Alberto Petrucci / Mbed 2 deprecated IMU-9DOF-KALMAN

Simple example to show how to get an estimation of the attitude with a 9DOF IMU and the Kalman filter

Dependencies:   L3GD20 LSM303DLHC mbed-dsp mbed

Fork of minimu-9v2 by brian claus

main.cpp

Committer:
bclaus
Date:
2013-02-21
Revision:
0:4b3d36de811a
Child:
1:ba2d31e3112d

File content as of revision 0:4b3d36de811a:

#include "mbed.h"
#include "L3GD20.h"
#include "LSM303DLHC.h"
 
L3GD20 gyro(p28, p27);
Serial debug(USBTX,USBRX);
LSM303DLHC compass(p28, p27);



  int main() {
    float ax, ay, az;
    float mx, my, mz;
    float gx, gy, gz;
    debug.format(8,Serial::None,1);
    debug.baud(115200);
    debug.printf("miniimu-9 v2 Test");

    while(1) {
      
      compass.read(&ax, &ay, &az, &mx, &my, &mz);
      gyro.read(&gx, &gy, &gz);
      debug.printf("a %.4f %.4f %.4f m %.4f %.4f %.4f m %.4f %.4f %.4f\n\r",ax,ay,az,mx,my,mz,gx,gy,gz);
      wait(0.05);
    }
  }