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/*
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;
}*/
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