include <math.h>

include <string.h>

define gPin 0

define xAccePin 1

define yAccePin 2

define zAccePin 3

define ledPin 7

define rledPin 7

define Vin 322

define xOffset 5081

define yOffset 5080

define zOffset 5517

int gOffset = 0;//, xOffset = 0, yOffset = 0, zOffset = 0; long gRaw = 0, xRaw = 0, yRaw = 0, zRaw = 0; unsigned long timeold_fast = 0, timeold_med = 0;
float rate = 0, rateold = 0, angle = 0, Azi = 0, Ele = 0, Roll = 0, AziOld = 0, EleOld = 0, RollOld = 0; char tempc[10], printStr[50];

void A2Ddata(unsigned int n) { long tempG = 0, tempX = 0, tempY = 0, tempZ = 0;

for(unsigned int k = 1; k <= n; k++){ tempG += analogRead(gPin);
tempX += analogRead(xAccePin); tempY += analogRead(yAccePin); tempZ += analogRead(zAccePin); //delayMicroseconds(10); } gRaw = tempG10/n; xRaw = tempX10/n-xOffset; yRaw = tempY10/n-yOffset; zRaw = tempZ10/n-zOffset; }

void setup() { pinMode(ledPin, OUTPUT);
pinMode(rledPin, OUTPUT); Serial.begin(38400);

analogReference(EXTERNAL); digitalWrite(rledPin,HIGH); delay(1000); //Find Gyro rate offset A2Ddata(10000); gOffset = gRaw*Vin/100; printStr[0]= '\0'; digitalWrite(rledPin,LOW); }

void loop() {

if (millis()-timeold_fast > 10) { timeold_fast = millis(); A2Ddata(8);

//Calculate gyro turn rate
rate = (gRaw*Vin/100-gOffset)*0.0150;

if (abs(rate) > 2.5) {
  angle += (rateold+rate)*0.010;  //trapz intergration
}
rateold = rate;

//Calculate elevation and roll angles
Ele = (atan2(zRaw,xRaw)*57.296-90+EleOld)/2;
Roll = (atan2(zRaw,yRaw)*57.296-90+RollOld)/2;

}

if (millis()-timeold_med > 50) { timeold_med = millis(); // hysterisis dead band if (abs(Ele - EleOld) > 0.5) { EleOld = Ele; } else { Ele = EleOld; }

if (abs(Roll - RollOld) > 0.5) {
  RollOld = Roll;
}
else {
  Roll = RollOld;
}

// reset yaw angle to 0 when head is lowered > 60 degrees if (Ele < -60) { angle = 0; }

/* // code to reduce gyro drift under steady conditions if (rate < 5) { if (rate > 0) { gOffset++; } else{ gOffset--; } } */ digitalWrite(ledPin, HIGH);

strcat(printStr,floatToString(tempc,rate,2,6,false));
strcat(printStr,",");
strcat(printStr,floatToString(tempc,Ele,3,6,false));
strcat(printStr,",");
strcat(printStr,floatToString(tempc,Roll,3,6,false));
strcat(printStr,",");
strcat(printStr,floatToString(tempc,angle,3,6,false));
Serial.println(printStr);

printStr[0] = '\0';
/*
Serial.print(floatToString(tempc,rate,2,6,false));
 Serial.print(',');
 //Serial.println(floatToString(tempc,angle,2,6,false));  
 Serial.print(floatToString(tempc,Ele,2,6,false));
 Serial.print(',');
 Serial.print(floatToString(tempc,Roll,2,6,false));
 Serial.print(',');
 Serial.println(floatToString(tempc,angle,2,6,false));
 */
digitalWrite(ledPin, LOW);  

}

}

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