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patrickelectric/donadel3.c

Created July 26, 2014 02:03
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donadel3.c
/// IMU DATA
#if 1
c_common_gpio_toggle(LED_builtin_io);
c_io_imu_getRaw(accRaw, gyrRaw, magRaw);
c_datapr_MahonyAHRSupdate(attitude_quaternion, velAngular, gyrRaw[0],gyrRaw[1],gyrRaw[2],accRaw[0],accRaw[1],accRaw[2],magRaw[0],magRaw[1],magRaw[2]);
//c_datapr_MahonyAHRSupdate(attitude_quaternion,gyrRaw[0],gyrRaw[1],gyrRaw[2],accRaw[0],accRaw[1],accRaw[2],0,0,0);
c_io_imu_Quaternion2Euler(attitude_quaternion, rpy);
c_io_imu_EulerMatrix(rpy, velAngular);
c_common_gpio_toggle(LED_builtin_io);
#endif
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