e07ec313ef
* moved files and added NXP fusion * rename and make unique names * renamed files and made a multi-filter tester * USB and Mahony examples are now superceded by one calibrated_orientation example * add lsm9ds0 fusion demo to calibrated_orientation and removed standalone version also moving really old 10dof/9dof demos * make one unified calibrator * add CI * add some deps * add more deps * more deps * update naming * more deps * skip and dep * manually add conversion const * more fixfix * change default to mahony * fix skips * clangclang * moreclang
31 lines
879 B
C
31 lines
879 B
C
#include <Adafruit_LIS3MDL.h>
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Adafruit_LIS3MDL lis3mdl;
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// Can change this to be LSM6DSOX or whatever ya like
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#include <Adafruit_LSM6DS33.h>
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Adafruit_LSM6DS33 lsm6ds;
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bool init_sensors(void) {
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if (!lsm6ds.begin_I2C() || !lis3mdl.begin_I2C()) {
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return false;
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}
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accelerometer = lsm6ds.getAccelerometerSensor();
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gyroscope = lsm6ds.getGyroSensor();
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magnetometer = &lis3mdl;
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return true;
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}
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void setup_sensors(void) {
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// set lowest range
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lsm6ds.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
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lsm6ds.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
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lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
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// set slightly above refresh rate
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lsm6ds.setAccelDataRate(LSM6DS_RATE_104_HZ);
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lsm6ds.setGyroDataRate(LSM6DS_RATE_104_HZ);
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lis3mdl.setDataRate(LIS3MDL_DATARATE_1000_HZ);
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lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
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lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
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}
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