Esempi in C++ (Cpp) per MPU6050::getExternalSensorWord

Esempio n. 1

File: hamr_imu.cpp Progetto: ehyoo/HAMR

void compute_imu(float _looptime) {
  looptime = _looptime;
  // get sensor readings
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  gx -= imu_offset[3];
  gy -= imu_offset[4];
  gz -= imu_offset[5];

  mx = mpu.getExternalSensorWord(0);
  my = mpu.getExternalSensorWord(2);
  mz = mpu.getExternalSensorWord(4);

  /* computations */
  compute_state_imu();
}