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Added YPR to web interface

This commit is contained in:
Philip Barclay 2019-11-18 19:10:45 +13:00
parent 9bef4cb976
commit 7f42caa6c0
1 changed files with 9 additions and 1 deletions
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10
sonoff/xsns_32_mpu6050.ino
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@ -56,6 +56,7 @@ int16_t MPU_6050_temperature = 0;
VectorInt16 aaReal; // [x, y, z] gravity-free accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float euler[3]; // [psi, theta, phi] Euler angle container
float yawPitchRoll[3]; // [yaw, pitch roll] Yaw-pitch-roll container
} MPU6050_DMP;
MPU6050_DMP MPU6050_dmp;
@ -78,6 +79,7 @@ void MPU_6050PerformReading(void)
mpu6050.dmpGetAccel(&MPU6050_dmp.aa, MPU6050_dmp.fifoBuffer);
mpu6050.dmpGetGravity(&MPU6050_dmp.gravity, &MPU6050_dmp.q);
mpu6050.dmpGetLinearAccel(&MPU6050_dmp.aaReal, &MPU6050_dmp.aa, &MPU6050_dmp.gravity);
mpu6050.dmpGetYawPitchRoll(MPU6050_dmp.yawPitchRoll, &MPU6050_dmp.q, &MPU6050_dmp.gravity);
MPU_6050_gx = MPU6050_dmp.euler[0] * 180/M_PI;
MPU_6050_gy = MPU6050_dmp.euler[1] * 180/M_PI;
MPU_6050_gz = MPU6050_dmp.euler[2] * 180/M_PI;
@ -161,7 +163,13 @@ const char HTTP_SNS_AXIS[] PROGMEM =
"{s}" D_SENSOR_MPU6050 " " D_AZ_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GX_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GY_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GZ_AXIS "{m}%s{e}"; // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_GZ_AXIS "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
#ifdef USE_MPU6050_DMP
"{s}" D_SENSOR_MPU6050 " " D_YAW "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_PITCH "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
"{s}" D_SENSOR_MPU6050 " " D_ROLL "{m}%s{e}" // {s} = <tr><th>, {m} = </th><td>, {e} = </td></tr>
#endif // USE_MPU_DMP
;
#endif // USE_WEBSERVER
#define D_JSON_AXIS_AX "AccelXAxis"