Minimus kode for gy8x

// for gy-88 etc
// mpu6050, bmp085, hmc5883L
#include <Wire.h>
#include <bmp085.h>  // som I lige har installeret
#include "I2Cdev.h"  // skal osse installeres
#include <MPU6050.h>
#include <HMC5883L.h>

MPU6050 accelgyro;
HMC5883L mag;

float tryk, temp, hojde;
int16_t mx,my,mz,ax,ay,az,gx,gy,gz;


/**
Acc and Gyro:

AFS_SEL | Full Scale Range | LSB Sensitivity
 * --------+------------------+----------------
 * 0       | +/- 2g           | 8192 LSB/mg
 * 1       | +/- 4g           | 4096 LSB/mg
 * 2       | +/- 8g           | 2048 LSB/mg
 * 3       | +/- 16g          | 1024 LSB/mg
#define MPU6050_ACCEL_FS_2          0x00
#define MPU6050_ACCEL_FS_4          0x01
#define MPU6050_ACCEL_FS_8          0x02
#define MPU6050_ACCEL_FS_16         0x03



FS_SEL | Full Scale Range   | LSB Sensitivity
 * -------+--------------------+----------------
 * 0      | +/- 250 degrees/s  | 131 LSB/deg/s
 * 1      | +/- 500 degrees/s  | 65.5 LSB/deg/s
 * 2      | +/- 1000 degrees/s | 32.8 LSB/deg/s
 * 3      | +/- 2000 degrees/s | 16.4 LSB/deg/s
#define MPU6050_GYRO_FS_250         0x00
#define MPU6050_GYRO_FS_500         0x01
#define MPU6050_GYRO_FS_1000        0x02
#define MPU6050_GYRO_FS_2000        0x03

 mpu.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
 mpu.setFullScaleAccelRange(MPU6050_ACCEL_FS_4);

 Serial.println(mpu.getFullScaleGyroRange());
 Serial.println(mpu.getFullScaleAccelRange());
**/



void setup()
{
  Serial.begin(115200);
  Wire.begin(); // I2C net til IMU board

  bmp085Init(0x68,102500.0); // ress at sealevel today
  accelgyro.initialize();
  mag.initialize();
}

#define SP(x) Serial.print(x)

void printData()
{
  Serial.print("temp(C) "); Serial.print(temp);
  Serial.print("\t tryk(Pa) "); Serial.print(tryk);
  Serial.print("\t hojde(m)"); Serial.println(hojde);

  SP(mx); SP(" "); SP(my); SP(" "); SP(mz); SP("\n");

  SP(ax); SP(" "); SP(ay); SP(" "); SP(az); SP("\n");
  SP(gx); SP(" "); SP(gy); SP(" "); SP(gz); SP("\n");

}


void loop()
{
  bmp085Measure(&temp, &tryk, &hojde);
  accelgyro.getMotion6(&ax,&ay,&az,&gx,&gy,&gz);
  mag.getHeading(&mx,&my,&mz);

  printData();

  delay(100); // delay er maaske for kort hvis vi skal sende over radio ...
}