imu.cpp File Reference

#include <Arduino.h>
#include <imu.h>
#include <Wire.h>
#include "I2Cdev.h"
#include "MPU9150Lib.h"
#include "CalLib.h"
#include <dmpKey.h>
#include <dmpmap.h>
#include <inv_mpu.h>
#include <inv_mpu_dmp_motion_driver.h>
#include <EEPROM.h>

Include dependency graph for imu.cpp:

Go to the source code of this file.

Defines
#define	DEVICE_TO_USE   0
	use the device at 0x68
#define	MAG_UPDATE_RATE   (10)
#define	MPU_LPF_RATE   40
	MPU_LPF_RATE is the low pas filter rate and can be between 5 and 188Hz.
#define	MPU_MAG_MIX_GYRO_AND_MAG   10
	a good mix value
#define	MPU_UPDATE_RATE   (20)
Variables
MPU9150Lib	MPU
	the MPU object

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Detailed Description

Arduino-attached MPU-9150 inertial measurement unit for Segbot version 2.

Definition in file imu.cpp.

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Define Documentation

#define DEVICE_TO_USE   0

use the device at 0x68

Definition at line 56 of file imu.cpp.

#define MAG_UPDATE_RATE   (10)

MAG_UPDATE_RATE defines the rate (in Hz) at which the MPU updates the magnetometer data MAG_UPDATE_RATE should be less than or equal to the MPU_UPDATE_RATE

Definition at line 66 of file imu.cpp.

#define MPU_LPF_RATE   40

MPU_LPF_RATE is the low pas filter rate and can be between 5 and 188Hz.

Definition at line 75 of file imu.cpp.

#define MPU_MAG_MIX_GYRO_AND_MAG   10

a good mix value

MPU_MAG_MIX defines the influence that the magnetometer has on the yaw output. The magnetometer itself is quite noisy so some mixing with the gyro yaw can help significantly. This option gives a good mix of those values:

Definition at line 72 of file imu.cpp.

#define MPU_UPDATE_RATE   (20)

MPU_UPDATE_RATE defines the rate (in Hz) at which the MPU updates the sensor data and DMP output

Definition at line 61 of file imu.cpp.

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Variable Documentation

MPU9150Lib MPU

the MPU object

Definition at line 57 of file imu.cpp.