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InertialSensor: fixed example app for new syntax

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This commit is contained in:
Andrew Tridgell 2012-12-23 12:49:34 +11:00
parent e2edad8a3f
commit fcb09c3993
1 changed files with 8 additions and 7 deletions
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15
libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde
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@ -166,6 +166,7 @@ void run_test()
Vector3f gyro;
float temperature;
float length;
uint8_t counter = 0;
// flush any user input
while( hal.console->available() ) {
@ -178,10 +179,8 @@ void run_test()
// loop as long as user does not press a key
while( !hal.console->available() ) {
// wait until we have 8 samples
while (ins.num_samples_available() == 0) {
hal.scheduler->delay(1);
}
// wait until we have a sample
while (ins.num_samples_available() == 0) /* noop */ ;
// read samples from ins
ins.update();
@ -191,9 +190,11 @@ void run_test()
length = accel.length();
// display results
hal.console->printf_P(PSTR("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f \t Temp:%4.2f\n"),
accel.x, accel.y, accel.z, length, gyro.x, gyro.y, gyro.z, temperature);
if (counter++ % 50 == 0) {
// display results
hal.console->printf_P(PSTR("Accel X:%4.2f \t Y:%4.2f \t Z:%4.2f \t len:%4.2f \t Gyro X:%4.2f \t Y:%4.2f \t Z:%4.2f \t Temp:%4.2f\n"),
accel.x, accel.y, accel.z, length, gyro.x, gyro.y, gyro.z, temperature);
}
}
// clear user input