delete outdated imu code

main/main.ino

@@ -16,108 +16,6 @@ SPIFlash flash(1);
 // (--) instance of workspace class storing all the variables used in the loop
 Workspace ws;
 
-/* print_measurements
- * 
- * Print out the latest IMU measurements, formatted nicely.
- */
-void print_measurements(float a[3], float w[3])
-{
-    Serial.print('a (m/s^2): '); Serial.print(a[0]);
-    Serial.print('\t'); Serial.print(a[1]); 
-    Serial.print('\t'); Serial.println(a[2]);
-
-    Serial.print('w (rad/s): '); Serial.print(w[0]);
-    Serial.print('\t'); Serial.print(w[1]); 
-    Serial.print('\t'); Serial.println(w[2]);
-}
-
-
-/* calibrate_imu_linear_acceleration
- * 
- * Checks a sample of IMU measurements over a few seconds while the rocket
- * is ASSUMED to be still. Averages the sum of those measurements to get a
- * linear acceleration bias along each axis. This bias is stored and assumed
- * to be constant throughout the flight. Bias is used in get_latest_measurements
- * when converting sensor readings to engineering values.
- */
-void calibrate_imu_linear_acceleration(int16_t *imu_lin_acc_bias[3], int16_t *imu_ang_vel_bias[3])
-{
-    int num_loops = 2500;  // number of cycles to check measurements for bias
-    long a_sums[3] = {0, 0, 0};  // sum of linear acceleration measurements each loop to be averaged
-    long w_sums[3] = {0, 0, 0};  // sum of angular velocity measurements each loop to be averaged
-
-    int16_t ax, ay, az, wx, wy, wz;  // temp loop vars
-
-    for (int i = 0; i < num_loops; i++)
-    {
-        imu.getMotion6(&ax, &ay, &az, &wx, &wy, &wz); //we want to label the vertical axis as z. the MPUs are orientated with y as vertical
-        a_sums[0] += ax;
-        a_sums[1] += ay;
-        a_sums[2] += az;
-
-        w_sums[0] += wx;
-        w_sums[1] += wy;
-        w_sums[2] += wz;
-    }
-
-    // find average bias
-    a_sums[0] /= num_loops;
-    a_sums[1] /= num_loops;
-    a_sums[2] /= num_loops;
-
-    w_sums[0] /= num_loops;
-    w_sums[1] /= num_loops;
-    w_sums[2] /= num_loops;
-
-    // store biases for later use
-    *imu_lin_acc_bias[0] = a_sums[0];
-    *imu_lin_acc_bias[1] = a_sums[1];
-    *imu_lin_acc_bias[2] = a_sums[2];
-
-    *imu_ang_vel_bias[0] = w_sums[0];
-    *imu_ang_vel_bias[1] = w_sums[1];
-    *imu_ang_vel_bias[2] = w_sums[2];
-}
-
-/* get_latest_measurements
- * 
- * Wrapper around MPU6050::getMotion6 that converts the sensor counts into engineering values.
- * 
- * Inputs:
- *   - MPU6050 imu: instance of an MPU 6050 IMU connection to read measurements from
- *   - float *a[3]: address of 3-array to store converted linear acceleration measurements
- *   - float *w[3]: address of 3-array to store converted angular velocity measurements
- * 
- *  Modifies:
- *   - Sets values of passed arrays based on converted sensor measurement values
- *       - Linear Acceleration conversion: $a_i = a_{m,i}\cdot\text{LSB}_{\text{linear}}\cdot1000\frac{\text{milli-gee}}{\text{gee}}\cdot9.80665\frac{\text{m/s}^2}{gee}$
- *       - Angular Velocity conversion: $\omega_i = \omega_{m,i}\cdot\text{LSB}_{\text{angular}}\cdot0.0174...\frac{\text{rad}}{\text{deg}}$
- *     where $a_{m,i}$ denotes the linear acceleration measurement in direction $i$
- *     and $\omega_{m,i}$ denotes the angular velocity measurement about axis $i$.
- * 
- * Outputs:
- *   - return 0
- */ 
-void get_latest_measurements(MPU6050 imu, float *a[3], float *w[3], bool debug=false)
-{
-    // READ DATA
-    int16_t ax, ay, az, wx, wy, wz;  // temp vars to store raw measurements
-    imu.getMotion6(&ax, &ay, &az, &wx, &wy, &wz);  // stores measurements in temp vars
-
-    // CONVERT AND STORE DATA
-    *a[0] = (ax - IMU_LIN_ACC_BIAS[0])*LSB_LINEAR*1000*G_2_MS2;  // (m/s^2) x-axis acceleration
-    *a[1] = (ay - IMU_LIN_ACC_BIAS[1])*LSB_LINEAR*1000*G_2_MS2;  // (m/s^2) y-axis acceleration
-    *a[2] = (az - IMU_LIN_ACC_BIAS[2])*LSB_LINEAR*1000*G_2_MS2;  // (m/s^2) z-axis acceleration
-
-    *w[0] = (wx - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD;  // (rad/s) x-axis angular velocity
-    *w[1] = (wy - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD;  // (rad/s) y-axis angular velocity
-    *w[2] = (wz - IMU_ANG_VEL_BIAS)*LSB_ANGULAR*DEG_2_RAD;  // (rad/s) z-axis angular velocity
-
-    if (debug) {
-        print_measurements(a, w);
-    }
-}
-
 
 /* tvc_abs
  *