imu and web info update

Author: EffectsMachine

General_Driver/IMU.cpp

@@ -65,7 +65,7 @@ void imuDataGet(EulerAngles *pstAngles,
   float  acc[3], gyro[3];
   float MotionVal[9];
 
-  // magnetometer_.getData(&x, &y, &z);
+  magnetometer_.getData(&x, &y, &z);
 
   pstMagnRawData->s16X = x- offset_x;
   pstMagnRawData->s16Y = y- offset_y;

General_Driver/IMU_ctrl.h

@@ -31,6 +31,8 @@ void updateIMUData() {
 	icm_roll = stAngles.roll;
 	icm_pitch = stAngles.pitch;
 	icm_yaw = stAngles.yaw;
+
+  temp = temperatureRead();
 }
 
 

General_Driver/ugv_advance.h

@@ -388,15 +388,15 @@ void baseInfoFeedback() {
 
 	jsonInfoHttp["r"] = icm_roll;
 	jsonInfoHttp["p"] = icm_pitch;
-	// jsonInfoHttp["y"] = icm_yaw;
-	jsonInfoHttp["y"] = "null";
+	jsonInfoHttp["y"] = icm_yaw;
+	// jsonInfoHttp["y"] = "null";
 
 	// jsonInfoHttp["q0"] = qw;
 	// jsonInfoHttp["q1"] = qx;
 	// jsonInfoHttp["q2"] = qy;
 	// jsonInfoHttp["q3"] = qz;
 
-	// jsonInfoHttp["temp"] = temp.temperature;
+	jsonInfoHttp["temp"] = temp;
 
 	jsonInfoHttp["v"] = loadVoltage_V;
 

General_Driver/web_page.h

@@ -278,8 +278,8 @@ const char index_html[] PROGMEM = R"rawliteral(
                                 <span id="pn">PITCH</span>
                             </div>
                             <div>
-                                <span class="num-color mid-num" id="y">-1.01</span>
-                                <span id="yn">YAW</span>
+                                <span class="num-color mid-num" id="temp">-1.01</span>
+                                <span id="yn">TEMP</span>
                             </div>
                             <div>
                                 <span class="num-color mid-num" id="mX">-1.01</span>
@@ -706,7 +706,7 @@ const char index_html[] PROGMEM = R"rawliteral(
 
                 document.getElementById("r").innerHTML = jsonResponse.r?.toFixed(2);
                 document.getElementById("p").innerHTML = jsonResponse.p?.toFixed(2);
-                document.getElementById("y").innerHTML = jsonResponse.y?.toFixed(2);
+                document.getElementById("temp").innerHTML = jsonResponse.temp?.toFixed(2);
                 document.getElementById("mZ").innerHTML = speed_rate;
 
                 if (jsonResponse.hasOwnProperty('pan')) {