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Implement MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet); #374

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Merged
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Apr 25, 2018
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Implement MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet); #374

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11 changes: 11 additions & 0 deletions Arduino/MPU6050/MPU6050_6Axis_MotionApps20.h
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Original file line number Diff line number Diff line change
Expand Up @@ -675,6 +675,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
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11 changes: 11 additions & 0 deletions Arduino/MPU6050/MPU6050_9Axis_MotionApps41.h
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Original file line number Diff line number Diff line change
Expand Up @@ -780,6 +780,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
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11 changes: 11 additions & 0 deletions ESP32_ESP-IDF/components/MPU6050/MPU6050_6Axis_MotionApps20.h
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Original file line number Diff line number Diff line change
Expand Up @@ -680,6 +680,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
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11 changes: 11 additions & 0 deletions ESP32_ESP-IDF/components/MPU6050/MPU6050_9Axis_MotionApps41.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -780,6 +780,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
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11 changes: 11 additions & 0 deletions MSP430/MPU6050/MPU6050_6Axis_MotionApps20.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -625,6 +625,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
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11 changes: 11 additions & 0 deletions MSP430/MPU6050/MPU6050_9Axis_MotionApps41.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -736,6 +736,17 @@ uint8_t MPU6050::dmpGetLinearAccelInWorld(VectorInt16 *v, VectorInt16 *vReal, Qu
// uint8_t MPU6050::dmpGetControlData(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetTemperature(long *data, const uint8_t* packet);
// uint8_t MPU6050::dmpGetGravity(long *data, const uint8_t* packet);
uint8_t MPU6050::dmpGetGravity(int16_t *data, const uint8_t* packet) {
/* +1g corresponds to +8192, sensitivity is 2g. */
int16_t qI[4];
uint8_t status = dmpGetQuaternion(qI, packet);
data[0] = ((int32_t)qI[1] * qI[3] - (int32_t)qI[0] * qI[2]) / 16384;
data[1] = ((int32_t)qI[0] * qI[1] + (int32_t)qI[2] * qI[3]) / 16384;
data[2] = ((int32_t)qI[0] * qI[0] - (int32_t)qI[1] * qI[1]
- (int32_t)qI[2] * qI[2] + (int32_t)qI[3] * qI[3]) / (2 * 16384);
return status;
}

uint8_t MPU6050::dmpGetGravity(VectorFloat *v, Quaternion *q) {
v -> x = 2 * (q -> x*q -> z - q -> w*q -> y);
v -> y = 2 * (q -> w*q -> x + q -> y*q -> z);
Expand Down