static int8_t _mwii_read_sensors(fc_board_t self, struct fc_data *data){
(void)(self);
data->flags = 0xffff; // all
mpu6050_readRawAcc(&_brd.mpu,
&data->raw_acc.x,
&data->raw_acc.y,
&data->raw_acc.z);
mpu6050_readRawGyr(&_brd.mpu,
&data->raw_gyr.x,
&data->raw_gyr.y,
&data->raw_gyr.z
);
mpu6050_convertAcc(&_brd.mpu,
data->raw_acc.x,
data->raw_acc.y,
data->raw_acc.z,
&data->acc_g.x,
&data->acc_g.y,
&data->acc_g.z
);
mpu6050_convertAcc(&_brd.mpu,
data->raw_gyr.x,
data->raw_gyr.y,
data->raw_gyr.z,
&data->gyr_deg.x,
&data->gyr_deg.y,
&data->gyr_deg.z
);
hmc5883l_readRawMag(&_brd.hmc,
&data->raw_mag.x,
&data->raw_mag.y,
&data->raw_mag.z
);
hmc5883l_convertMag(&_brd.hmc,
data->raw_mag.x,
data->raw_mag.y,
data->raw_mag.z,
&data->mag.x,
&data->mag.y,
&data->mag.z
);
int16_t sonar = hcsr04_read_distance_in_cm(&brd->hcsr);
data->atmospheric_altitude = bmp085_read_altitude(&brd->bmp);
data->sonar_altitude = (sonar > 0)?((float)sonar / 100.0):-1;
data->temperature = bmp085_read_temperature(&brd->bmp);
data->pressure = bmp085_read_pressure(&brd->bmp);
data->vbat = (adc0_read_cached(2) / 65535.0);
return 0;
}
//**********************
// READING SENSOR DATA
//**********************
/// reads last measured acceleration in G
void mwii_read_acceleration_g(float *ax, float *ay, float *az){
int16_t x, y, z;
mpu6050_readRawAcc(&_brd.mpu, &x, &y, &z);
mpu6050_convertAcc(&_brd.mpu, x, y, z, ax, ay, az);
}