Diff: SensorFusion.h

Revision:

34:01dec68de3ed

Parent:

26:8f3e4e1a3acc

Child:

35:fb6e4601adf3

--- a/SensorFusion.h	Tue May 05 09:59:11 2015 +0000
+++ b/SensorFusion.h	Wed May 06 07:50:02 2015 +0000
@@ -13,7 +13,7 @@
     class Delegate
     {
     public:
-        virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
+        virtual void sensorTick(float dt, Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
     };
     
     SensorFusion(I2C &i2c);
@@ -23,6 +23,7 @@
     void stop();
 
     virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
+    void getMagnetometerCalibration(Vector3 &min, Vector3 &max);
 
 private:
     Delegate defaultDelegate; // to avoid check for existence every time
@@ -32,6 +33,7 @@
     Magnetometer magneto;
     Quaternion q;
     float const deltat, beta;
+    Vector3 fused;
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
 };