code

7 files changed, 0 insertions, 830 deletions

diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
deleted file mode 100644
index 767227b..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Compass.ino
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-void Compass_Heading()
-{
-  float MAG_X;
-  float MAG_Y;
-  float cos_roll;
-  float sin_roll;
-  float cos_pitch;
-  float sin_pitch;
-  
-  cos_roll = cos(roll);
-  sin_roll = sin(roll);
-  cos_pitch = cos(pitch);
-  sin_pitch = sin(pitch);
-  
-  // adjust for LSM303 compass axis offsets/sensitivity differences by scaling to +/-0.5 range
-  c_magnetom_x = (float)(magnetom_x - SENSOR_SIGN[6]*M_X_MIN) / (M_X_MAX - M_X_MIN) - SENSOR_SIGN[6]*0.5;
-  c_magnetom_y = (float)(magnetom_y - SENSOR_SIGN[7]*M_Y_MIN) / (M_Y_MAX - M_Y_MIN) - SENSOR_SIGN[7]*0.5;
-  c_magnetom_z = (float)(magnetom_z - SENSOR_SIGN[8]*M_Z_MIN) / (M_Z_MAX - M_Z_MIN) - SENSOR_SIGN[8]*0.5;
-  
-  // Tilt compensated Magnetic filed X:
-  MAG_X = c_magnetom_x*cos_pitch+c_magnetom_y*sin_roll*sin_pitch+c_magnetom_z*cos_roll*sin_pitch;
-  // Tilt compensated Magnetic filed Y:
-  MAG_Y = c_magnetom_y*cos_roll-c_magnetom_z*sin_roll;
-  // Magnetic Heading
-  MAG_Heading = atan2(-MAG_Y,MAG_X);
-}
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino
deleted file mode 100644
index 7f9f276..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/DCM.ino
+++ /dev/null
@@ -1,164 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-/**************************************************/
-void Normalize(void)
-{
-  float error=0;
-  float temporary[3][3];
-  float renorm=0;
-  
-  error= -Vector_Dot_Product(&DCM_Matrix[0][0],&DCM_Matrix[1][0])*.5; //eq.19
-
-  Vector_Scale(&temporary[0][0], &DCM_Matrix[1][0], error); //eq.19
-  Vector_Scale(&temporary[1][0], &DCM_Matrix[0][0], error); //eq.19
-  
-  Vector_Add(&temporary[0][0], &temporary[0][0], &DCM_Matrix[0][0]);//eq.19
-  Vector_Add(&temporary[1][0], &temporary[1][0], &DCM_Matrix[1][0]);//eq.19
-  
-  Vector_Cross_Product(&temporary[2][0],&temporary[0][0],&temporary[1][0]); // c= a x b //eq.20
-  
-  renorm= .5 *(3 - Vector_Dot_Product(&temporary[0][0],&temporary[0][0])); //eq.21
-  Vector_Scale(&DCM_Matrix[0][0], &temporary[0][0], renorm);
-  
-  renorm= .5 *(3 - Vector_Dot_Product(&temporary[1][0],&temporary[1][0])); //eq.21
-  Vector_Scale(&DCM_Matrix[1][0], &temporary[1][0], renorm);
-  
-  renorm= .5 *(3 - Vector_Dot_Product(&temporary[2][0],&temporary[2][0])); //eq.21
-  Vector_Scale(&DCM_Matrix[2][0], &temporary[2][0], renorm);
-}
-
-/**************************************************/
-void Drift_correction(void)
-{
-  float mag_heading_x;
-  float mag_heading_y;
-  float errorCourse;
-  //Compensation the Roll, Pitch and Yaw drift. 
-  static float Scaled_Omega_P[3];
-  static float Scaled_Omega_I[3];
-  float Accel_magnitude;
-  float Accel_weight;
-  
-  
-  //*****Roll and Pitch***************
-
-  // Calculate the magnitude of the accelerometer vector
-  Accel_magnitude = sqrt(Accel_Vector[0]*Accel_Vector[0] + Accel_Vector[1]*Accel_Vector[1] + Accel_Vector[2]*Accel_Vector[2]);
-  Accel_magnitude = Accel_magnitude / GRAVITY; // Scale to gravity.
-  // Dynamic weighting of accelerometer info (reliability filter)
-  // Weight for accelerometer info (<0.5G = 0.0, 1G = 1.0 , >1.5G = 0.0)
-  Accel_weight = constrain(1 - 2*abs(1 - Accel_magnitude),0,1);  //  
-
-  Vector_Cross_Product(&errorRollPitch[0],&Accel_Vector[0],&DCM_Matrix[2][0]); //adjust the ground of reference
-  Vector_Scale(&Omega_P[0],&errorRollPitch[0],Kp_ROLLPITCH*Accel_weight);
-  
-  Vector_Scale(&Scaled_Omega_I[0],&errorRollPitch[0],Ki_ROLLPITCH*Accel_weight);
-  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);     
-  
-  //*****YAW***************
-  // We make the gyro YAW drift correction based on compass magnetic heading
- 
-  mag_heading_x = cos(MAG_Heading);
-  mag_heading_y = sin(MAG_Heading);
-  errorCourse=(DCM_Matrix[0][0]*mag_heading_y) - (DCM_Matrix[1][0]*mag_heading_x);  //Calculating YAW error
-  Vector_Scale(errorYaw,&DCM_Matrix[2][0],errorCourse); //Applys the yaw correction to the XYZ rotation of the aircraft, depeding the position.
-  
-  Vector_Scale(&Scaled_Omega_P[0],&errorYaw[0],Kp_YAW);//.01proportional of YAW.
-  Vector_Add(Omega_P,Omega_P,Scaled_Omega_P);//Adding  Proportional.
-  
-  Vector_Scale(&Scaled_Omega_I[0],&errorYaw[0],Ki_YAW);//.00001Integrator
-  Vector_Add(Omega_I,Omega_I,Scaled_Omega_I);//adding integrator to the Omega_I
-}
-/**************************************************/
-/*
-void Accel_adjust(void)
-{
- Accel_Vector[1] += Accel_Scale(speed_3d*Omega[2]);  // Centrifugal force on Acc_y = GPS_speed*GyroZ
- Accel_Vector[2] -= Accel_Scale(speed_3d*Omega[1]);  // Centrifugal force on Acc_z = GPS_speed*GyroY 
-}
-*/
-/**************************************************/
-
-void Matrix_update(void)
-{
-  Gyro_Vector[0]=Gyro_Scaled_X(gyro_x); //gyro x roll
-  Gyro_Vector[1]=Gyro_Scaled_Y(gyro_y); //gyro y pitch
-  Gyro_Vector[2]=Gyro_Scaled_Z(gyro_z); //gyro Z yaw
-  
-  Accel_Vector[0]=accel_x;
-  Accel_Vector[1]=accel_y;
-  Accel_Vector[2]=accel_z;
-    
-  Vector_Add(&Omega[0], &Gyro_Vector[0], &Omega_I[0]);  //adding proportional term
-  Vector_Add(&Omega_Vector[0], &Omega[0], &Omega_P[0]); //adding Integrator term
-
-  //Accel_adjust();    //Remove centrifugal acceleration.   We are not using this function in this version - we have no speed measurement
-  
- #if OUTPUTMODE==1         
-  Update_Matrix[0][0]=0;
-  Update_Matrix[0][1]=-G_Dt*Omega_Vector[2];//-z
-  Update_Matrix[0][2]=G_Dt*Omega_Vector[1];//y
-  Update_Matrix[1][0]=G_Dt*Omega_Vector[2];//z
-  Update_Matrix[1][1]=0;
-  Update_Matrix[1][2]=-G_Dt*Omega_Vector[0];//-x
-  Update_Matrix[2][0]=-G_Dt*Omega_Vector[1];//-y
-  Update_Matrix[2][1]=G_Dt*Omega_Vector[0];//x
-  Update_Matrix[2][2]=0;
- #else                    // Uncorrected data (no drift correction)
-  Update_Matrix[0][0]=0;
-  Update_Matrix[0][1]=-G_Dt*Gyro_Vector[2];//-z
-  Update_Matrix[0][2]=G_Dt*Gyro_Vector[1];//y
-  Update_Matrix[1][0]=G_Dt*Gyro_Vector[2];//z
-  Update_Matrix[1][1]=0;
-  Update_Matrix[1][2]=-G_Dt*Gyro_Vector[0];
-  Update_Matrix[2][0]=-G_Dt*Gyro_Vector[1];
-  Update_Matrix[2][1]=G_Dt*Gyro_Vector[0];
-  Update_Matrix[2][2]=0;
- #endif
-
-  Matrix_Multiply(DCM_Matrix,Update_Matrix,Temporary_Matrix); //a*b=c
-
-  for(int x=0; x<3; x++) //Matrix Addition (update)
-  {
-    for(int y=0; y<3; y++)
-    {
-      DCM_Matrix[x][y]+=Temporary_Matrix[x][y];
-    } 
-  }
-}
-
-void Euler_angles(void)
-{
-  pitch = -asin(DCM_Matrix[2][0]);
-  roll = atan2(DCM_Matrix[2][1],DCM_Matrix[2][2]);
-  yaw = atan2(DCM_Matrix[1][0],DCM_Matrix[0][0]);
-}
-
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
deleted file mode 100644
index 5ca58e2..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/I2C.ino
+++ /dev/null
@@ -1,159 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-#ifdef IMU_V5
-
-#include <LSM6.h>
-#include <LIS3MDL.h>
-
-LSM6 gyro_acc;
-LIS3MDL mag;
-
-#else // older IMUs through v4
-
-#include <L3G.h>
-#include <LSM303.h>
-
-L3G gyro;
-LSM303 compass;
-
-#endif
-
-
-void I2C_Init()
-{
-  Wire.begin();
-}
-
-void Gyro_Init()
-{
-#ifdef IMU_V5
-  // Accel_Init() should have already called gyro_acc.init() and enableDefault()
-  gyro_acc.writeReg(LSM6::CTRL2_G, 0x4C); // 104 Hz, 2000 dps full scale
-#else
-  gyro.init();
-  gyro.enableDefault();
-  gyro.writeReg(L3G::CTRL_REG4, 0x20); // 2000 dps full scale
-  gyro.writeReg(L3G::CTRL_REG1, 0x0F); // normal power mode, all axes enabled, 100 Hz
-#endif
-}
-
-void Read_Gyro()
-{
-#ifdef IMU_V5
-  gyro_acc.readGyro();
-
-  AN[0] = gyro_acc.g.x;
-  AN[1] = gyro_acc.g.y;
-  AN[2] = gyro_acc.g.z;
-#else
-  gyro.read();
-
-  AN[0] = gyro.g.x;
-  AN[1] = gyro.g.y;
-  AN[2] = gyro.g.z;
-#endif
-
-  gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]);
-  gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]);
-  gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]);
-}
-
-void Accel_Init()
-{
-#ifdef IMU_V5
-  gyro_acc.init();
-  gyro_acc.enableDefault();
-  gyro_acc.writeReg(LSM6::CTRL1_XL, 0x3C); // 52 Hz, 8 g full scale
-#else
-  compass.init();
-  compass.enableDefault();
-  switch (compass.getDeviceType())
-  {
-    case LSM303::device_D:
-      compass.writeReg(LSM303::CTRL2, 0x18); // 8 g full scale: AFS = 011
-      break;
-    case LSM303::device_DLHC:
-      compass.writeReg(LSM303::CTRL_REG4_A, 0x28); // 8 g full scale: FS = 10; high resolution output mode
-      break;
-    default: // DLM, DLH
-      compass.writeReg(LSM303::CTRL_REG4_A, 0x30); // 8 g full scale: FS = 11
-  }
-#endif
-}
-
-// Reads x,y and z accelerometer registers
-void Read_Accel()
-{
-#ifdef IMU_V5
-  gyro_acc.readAcc();
-
-  AN[3] = gyro_acc.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
-  AN[4] = gyro_acc.a.y >> 4;
-  AN[5] = gyro_acc.a.z >> 4;
-#else
-  compass.readAcc();
-
-  AN[3] = compass.a.x >> 4; // shift right 4 bits to use 12-bit representation (1 g = 256)
-  AN[4] = compass.a.y >> 4;
-  AN[5] = compass.a.z >> 4;
-#endif
-  accel_x = SENSOR_SIGN[3] * (AN[3] - AN_OFFSET[3]);
-  accel_y = SENSOR_SIGN[4] * (AN[4] - AN_OFFSET[4]);
-  accel_z = SENSOR_SIGN[5] * (AN[5] - AN_OFFSET[5]);
-}
-
-void Compass_Init()
-{
-#ifdef IMU_V5
-  mag.init();
-  mag.enableDefault();
-#else
-  // LSM303: doesn't need to do anything because Accel_Init() should have already called compass.enableDefault()
-#endif
-}
-
-void Read_Compass()
-{
-#ifdef IMU_V5
-  mag.read();
-
-  magnetom_x = SENSOR_SIGN[6] * mag.m.x;
-  magnetom_y = SENSOR_SIGN[7] * mag.m.y;
-  magnetom_z = SENSOR_SIGN[8] * mag.m.z;
-#else
-  compass.readMag();
-
-  magnetom_x = SENSOR_SIGN[6] * compass.m.x;
-  magnetom_y = SENSOR_SIGN[7] * compass.m.y;
-  magnetom_z = SENSOR_SIGN[8] * compass.m.z;
-#endif
-}
-
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino
deleted file mode 100644
index 5307f5e..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/MinIMU9AHRS.ino
+++ /dev/null
@@ -1,241 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-// Uncomment the following line to use a MinIMU-9 v5 or AltIMU-10 v5. Leave commented for older IMUs (up through v4).
-#define IMU_V5
-
-// Uncomment the below line to use this axis definition:
-   // X axis pointing forward
-   // Y axis pointing to the right
-   // and Z axis pointing down.
-// Positive pitch : nose up
-// Positive roll : right wing down
-// Positive yaw : clockwise
-int SENSOR_SIGN[9] = {1,1,1,-1,-1,-1,1,1,1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
-// Uncomment the below line to use this axis definition:
-   // X axis pointing forward
-   // Y axis pointing to the left
-   // and Z axis pointing up.
-// Positive pitch : nose down
-// Positive roll : right wing down
-// Positive yaw : counterclockwise
-//int SENSOR_SIGN[9] = {1,-1,-1,-1,1,1,1,-1,-1}; //Correct directions x,y,z - gyro, accelerometer, magnetometer
-
-// tested with Arduino Uno with ATmega328 and Arduino Duemilanove with ATMega168
-
-#include <Wire.h>
-
-// accelerometer: 8 g sensitivity
-// 3.9 mg/digit; 1 g = 256
-#define GRAVITY 256  //this equivalent to 1G in the raw data coming from the accelerometer
-
-#define ToRad(x) ((x)*0.01745329252)  // *pi/180
-#define ToDeg(x) ((x)*57.2957795131)  // *180/pi
-
-// gyro: 2000 dps full scale
-// 70 mdps/digit; 1 dps = 0.07
-#define Gyro_Gain_X 0.07 //X axis Gyro gain
-#define Gyro_Gain_Y 0.07 //Y axis Gyro gain
-#define Gyro_Gain_Z 0.07 //Z axis Gyro gain
-#define Gyro_Scaled_X(x) ((x)*ToRad(Gyro_Gain_X)) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Y(x) ((x)*ToRad(Gyro_Gain_Y)) //Return the scaled ADC raw data of the gyro in radians for second
-#define Gyro_Scaled_Z(x) ((x)*ToRad(Gyro_Gain_Z)) //Return the scaled ADC raw data of the gyro in radians for second
-
-// LSM303/LIS3MDL magnetometer calibration constants; use the Calibrate example from
-// the Pololu LSM303 or LIS3MDL library to find the right values for your board
-
-#define M_X_MIN -1000
-#define M_Y_MIN -1000
-#define M_Z_MIN -1000
-#define M_X_MAX +1000
-#define M_Y_MAX +1000
-#define M_Z_MAX +1000
-
-#define Kp_ROLLPITCH 0.02
-#define Ki_ROLLPITCH 0.00002
-#define Kp_YAW 1.2
-#define Ki_YAW 0.00002
-
-/*For debugging purposes*/
-//OUTPUTMODE=1 will print the corrected data,
-//OUTPUTMODE=0 will print uncorrected data of the gyros (with drift)
-#define OUTPUTMODE 1
-
-#define PRINT_DCM 0     //Will print the whole direction cosine matrix
-#define PRINT_ANALOGS 0 //Will print the analog raw data
-#define PRINT_EULER 1   //Will print the Euler angles Roll, Pitch and Yaw
-
-#define STATUS_LED 13
-
-float G_Dt=0.02;    // Integration time (DCM algorithm)  We will run the integration loop at 50Hz if possible
-
-long timer=0;   //general purpuse timer
-long timer_old;
-long timer24=0; //Second timer used to print values
-int AN[6]; //array that stores the gyro and accelerometer data
-int AN_OFFSET[6]={0,0,0,0,0,0}; //Array that stores the Offset of the sensors
-
-int gyro_x;
-int gyro_y;
-int gyro_z;
-int accel_x;
-int accel_y;
-int accel_z;
-int magnetom_x;
-int magnetom_y;
-int magnetom_z;
-float c_magnetom_x;
-float c_magnetom_y;
-float c_magnetom_z;
-float MAG_Heading;
-
-float Accel_Vector[3]= {0,0,0}; //Store the acceleration in a vector
-float Gyro_Vector[3]= {0,0,0};//Store the gyros turn rate in a vector
-float Omega_Vector[3]= {0,0,0}; //Corrected Gyro_Vector data
-float Omega_P[3]= {0,0,0};//Omega Proportional correction
-float Omega_I[3]= {0,0,0};//Omega Integrator
-float Omega[3]= {0,0,0};
-
-// Euler angles
-float roll;
-float pitch;
-float yaw;
-
-float errorRollPitch[3]= {0,0,0};
-float errorYaw[3]= {0,0,0};
-
-unsigned int counter=0;
-byte gyro_sat=0;
-
-float DCM_Matrix[3][3]= {
-  {
-    1,0,0  }
-  ,{
-    0,1,0  }
-  ,{
-    0,0,1  }
-};
-float Update_Matrix[3][3]={{0,1,2},{3,4,5},{6,7,8}}; //Gyros here
-
-
-float Temporary_Matrix[3][3]={
-  {
-    0,0,0  }
-  ,{
-    0,0,0  }
-  ,{
-    0,0,0  }
-};
-
-void setup()
-{
-  Serial.begin(115200);
-  pinMode (STATUS_LED,OUTPUT);  // Status LED
-
-  I2C_Init();
-
-  Serial.println("Pololu MinIMU-9 + Arduino AHRS");
-
-  digitalWrite(STATUS_LED,LOW);
-  delay(1500);
-
-  Accel_Init();
-  Compass_Init();
-  Gyro_Init();
-
-  delay(20);
-
-  for(int i=0;i<32;i++)    // We take some readings...
-    {
-    Read_Gyro();
-    Read_Accel();
-    for(int y=0; y<6; y++)   // Cumulate values
-      AN_OFFSET[y] += AN[y];
-    delay(20);
-    }
-
-  for(int y=0; y<6; y++)
-    AN_OFFSET[y] = AN_OFFSET[y]/32;
-
-  AN_OFFSET[5]-=GRAVITY*SENSOR_SIGN[5];
-
-  //Serial.println("Offset:");
-  for(int y=0; y<6; y++)
-    Serial.println(AN_OFFSET[y]);
-
-  delay(2000);
-  digitalWrite(STATUS_LED,HIGH);
-
-  timer=millis();
-  delay(20);
-  counter=0;
-}
-
-void loop() //Main Loop
-{
-  if((millis()-timer)>=20)  // Main loop runs at 50Hz
-  {
-    counter++;
-    timer_old = timer;
-    timer=millis();
-    if (timer>timer_old)
-    {
-      G_Dt = (timer-timer_old)/1000.0;    // Real time of loop run. We use this on the DCM algorithm (gyro integration time)
-      if (G_Dt > 0.2)
-        G_Dt = 0; // ignore integration times over 200 ms
-    }
-    else
-      G_Dt = 0;
-
-
-
-    // *** DCM algorithm
-    // Data adquisition
-    Read_Gyro();   // This read gyro data
-    Read_Accel();     // Read I2C accelerometer
-
-    if (counter > 5)  // Read compass data at 10Hz... (5 loop runs)
-    {
-      counter=0;
-      Read_Compass();    // Read I2C magnetometer
-      Compass_Heading(); // Calculate magnetic heading
-    }
-
-    // Calculations...
-    Matrix_update();
-    Normalize();
-    Drift_correction();
-    Euler_angles();
-    // ***
-
-    printdata();
-  }
-
-}
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
deleted file mode 100644
index f1f31e5..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Output.ino
+++ /dev/null
@@ -1,91 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-void printdata(void)
-{   
-      Serial.print("!");
-
-      #if PRINT_EULER == 1
-      Serial.print("ANG:");
-      Serial.print(ToDeg(roll));
-      Serial.print(",");
-      Serial.print(ToDeg(pitch));
-      Serial.print(",");
-      Serial.print(ToDeg(yaw));
-      #endif      
-      #if PRINT_ANALOGS==1
-      Serial.print(",AN:");
-      Serial.print(AN[0]);  //(int)read_adc(0)
-      Serial.print(",");
-      Serial.print(AN[1]);
-      Serial.print(",");
-      Serial.print(AN[2]);  
-      Serial.print(",");
-      Serial.print(AN[3]);
-      Serial.print (",");
-      Serial.print(AN[4]);
-      Serial.print (",");
-      Serial.print(AN[5]);
-      Serial.print(",");
-      Serial.print(c_magnetom_x);
-      Serial.print (",");
-      Serial.print(c_magnetom_y);
-      Serial.print (",");
-      Serial.print(c_magnetom_z);
-      #endif
-      #if PRINT_DCM == 1
-      Serial.print (",DCM:");
-      Serial.print(DCM_Matrix[0][0]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[0][1]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[0][2]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[1][0]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[1][1]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[1][2]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[2][0]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[2][1]);
-      Serial.print (",");
-      Serial.print(DCM_Matrix[2][2]);
-      #endif
-      Serial.println();
-      
-}
-
-/*long convert_to_dec(float x)
-{
-  return x*10000000;
-}*/
-
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino
deleted file mode 100644
index d69b49c..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/Vector.ino
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-//Computes the dot product of two vectors
-float Vector_Dot_Product(float vector1[3],float vector2[3])
-{
-  float op=0;
-  
-  for(int c=0; c<3; c++)
-  {
-  op+=vector1[c]*vector2[c];
-  }
-  
-  return op; 
-}
-
-//Computes the cross product of two vectors
-void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
-{
-  vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
-  vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
-  vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
-}
-
-//Multiply the vector by a scalar. 
-void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
-{
-  for(int c=0; c<3; c++)
-  {
-   vectorOut[c]=vectorIn[c]*scale2; 
-  }
-}
-
-void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
-{
-  for(int c=0; c<3; c++)
-  {
-     vectorOut[c]=vectorIn1[c]+vectorIn2[c];
-  }
-}
-
-
-
diff --git a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino b/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
deleted file mode 100644
index c8a7a15..0000000
--- a/CODE/debug/IMU_comp/minimu-9-ahrs-arduino-master/MinIMU9AHRS/matrix.ino
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-
-MinIMU-9-Arduino-AHRS
-Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
-
-Copyright (c) 2011-2016 Pololu Corporation.
-http://www.pololu.com/
-
-MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
-http://code.google.com/p/sf9domahrs/
-
-sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
-Julio and Doug Weibel:
-http://code.google.com/p/ardu-imu/
-
-MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
-under the terms of the GNU Lesser General Public License as published by the
-Free Software Foundation, either version 3 of the License, or (at your option)
-any later version.
-
-MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
-WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
-more details.
-
-You should have received a copy of the GNU Lesser General Public License along
-with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-/**************************************************/
-//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). 
-void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3])
-{
-  for(int x = 0; x < 3; x++)
-  {
-    for(int y = 0; y < 3; y++)
-    {
-      mat[x][y] = 0;
-      
-      for(int w = 0; w < 3; w++)
-      {
-        mat[x][y] += a[x][w] * b[w][y];
-      } 
-    }
-  }
-}
-
-