Subversion Repositories FlightCtrl

#include <ADXL345.h>

#include <HMC58X3.h>

#include <ITG3200.h>

//#define DEBUG

#include "DebugUtils.h"

#include "FreeIMU.h"

#include "CommunicationUtils.h"

#include <Wire.h>

int raw_values[9];

//char str[512];

float ypr[3]; // yaw pitch roll

float val[9];

// Set the FreeIMU object

FreeIMU my3IMU = FreeIMU();

void setup() {

  Serial.begin(115200);

  Wire.begin();

  delay(5);

  my3IMU.init(); // the parameter enable or disable fast mode

  delay(5);

}

void loop() {

  my3IMU.getYawPitchRoll(ypr);

  Serial.print("Yaw: ");

  Serial.print(ypr[0]);

  Serial.print(" Pitch: ");

  Serial.print(ypr[1]);

  Serial.print(" Roll: ");

  Serial.print(ypr[2]);

  Serial.println("");

  delay(10);

}