Merge branch 'master' of http://192.168.219.222:3000/jeki/wemos-gps

jqrbp · Mar 4, 2021 · 36cb429 · 36cb429
2 parents 7cae778 + 191c0e2
commit 36cb429
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Showing 11 changed files with 1,120 additions and 1,118 deletions.
diff --git a/SparkFunMPU9250-DMP.cpp b/SparkFunMPU9250-DMP.cpp
@@ -697,7 +697,7 @@ float MPU9250_DMP::computeCompassHeading(void)
 		heading = (mx < 0) ? PI : 0;
 	else
 		heading = atan2(mx, my);
-	
+
 	if (heading > PI) heading -= (2 * PI);
 	else if (heading < -PI) heading += (2 * PI);
 	else if (heading < 0) heading += 2 * PI;

diff --git a/SparkFunMPU9250-DMP.h b/SparkFunMPU9250-DMP.h
@@ -379,6 +379,8 @@ class MPU9250_DMP
 	// Output: class variable heading will be updated on exit
 	float computeCompassHeading(void);
 
+	float calcCompassHeadingTilt(float acc_x, float acc_y, float acc_z, float mag_x, float mag_y, float mag_z);
+
 	// selfTest -- Run gyro and accel self-test.
 	// Output: Returns bit mask, 1 indicates success. A 0x7 is success on all sensors.
 	//         Bit pos 0: gyro