@AvSquirrel changes - configurable yaw mix rate/refresh + quat setting.

cyoung · Jan 11, 2016 · af55080 · af55080
1 parent aa27515
commit af55080
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Showing 4 changed files with 10 additions and 13 deletions.
diff --git a/libimu.c b/libimu.c
@@ -52,13 +52,13 @@ void close_mpu(void)
 
 
 
-int init_mpu(void)
+int init_mpu(int sample_rate, int yaw_mix_factor)
 {
 	int ret;
 	verbose = 1;
 	i2c_bus = DEFAULT_I2C_BUS;
-	sample_rate = DEFAULT_SAMPLE_RATE_HZ;
-	yaw_mix_factor = DEFAULT_YAW_MIX_FACTOR;
+	// sample_rate = DEFAULT_SAMPLE_RATE_HZ;
+	// yaw_mix_factor = DEFAULT_YAW_MIX_FACTOR;
 
 	mpu9150_set_debug(verbose);
 	if ((ret = mpu9150_init(i2c_bus, sample_rate, yaw_mix_factor)) != 0) {

diff --git a/libimu.h b/libimu.h
@@ -8,19 +8,16 @@
 #define DEFAULT_I2C_BUS (1)
 
 // platform independent
-#define DEFAULT_SAMPLE_RATE_HZ	(10)
-#ifdef MPU6050
-#define DEFAULT_YAW_MIX_FACTOR (0)
-#else
-#define DEFAULT_YAW_MIX_FACTOR (4)
-#endif
+//#define DEFAULT_SAMPLE_RATE_HZ	(10)
+//#define DEFAULT_YAW_MIX_FACTOR (0)
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 extern void close_mpu(void);
-extern int init_mpu(void);
+//extern int init_mpu(void);
+extern int init_mpu(int sample_rate, int yaw_mix_factor);
 extern int read_mpu(float *pitch, float *roll, float *heading);
 extern int set_cal(int mag, char *cal_file);
 

diff --git a/mpu/mpu.go b/mpu/mpu.go
@@ -35,8 +35,8 @@ import (
 var PackageVersion = "v0.1"
 
 // InitMPU
-func InitMPU() int {
-	return int(C.init_mpu())
+func InitMPU(sample_rate, yaw_mix_factor int) int {
+	return int(C.init_mpu(C.int(sample_rate), C.int(yaw_mix_factor)))
 }
 
 // CloseMPU

diff --git a/mpu9150/mpu9150.c b/mpu9150/mpu9150.c
@@ -134,7 +134,7 @@ int mpu9150_init(int i2c_bus, int sample_rate, int mix_factor)
 	printf(".");
 	fflush(stdout);
 
-  	if (dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_SEND_RAW_ACCEL 
+  	if (dmp_enable_feature(/*DMP_FEATURE_6X_LP_QUAT*/ DMP_FEATURE_LP_QUAT |  DMP_FEATURE_SEND_RAW_ACCEL 
 						| DMP_FEATURE_SEND_CAL_GYRO | DMP_FEATURE_GYRO_CAL)) {
 		printf("\ndmp_enable_feature() failed\n");
 		return -1;