From 96f5212d642e71c0cb208ad8a2e1bed044d98478 Mon Sep 17 00:00:00 2001 From: Peter Bartz Date: Sat, 19 Oct 2013 21:48:36 +0200 Subject: [PATCH] Arduino 1.x and Processing 2.x compatibility update v1.4.2 header and readme updates --- .../qu/razorahrs/DeclinationHelper.java | 4 +-- .../de/tuberlin/qu/razorahrs/ObjectPool.java | 6 ++-- .../de/tuberlin/qu/razorahrs/RazorAHRS.java | 2 +- .../tuberlin/qu/razorahrs/RazorListener.java | 2 +- .../src/de/tuberlin/qu/RazorExample.java | 6 ++-- ...re_BT_Dummy.pde => Configure_BT_Dummy.ino} | 0 .../Razor_AHRS/{Compass.pde => Compass.ino} | 0 Arduino/Razor_AHRS/{DCM.pde => DCM.ino} | 0 Arduino/Razor_AHRS/{Math.pde => Math.ino} | 0 Arduino/Razor_AHRS/{Output.pde => Output.ino} | 0 .../{Razor_AHRS.pde => Razor_AHRS.ino} | 34 ++++++++++--------- .../Razor_AHRS/{Sensors.pde => Sensors.ino} | 0 C++/Example.cpp | 6 ++-- C++/RazorAHRS.cpp | 6 ++-- C++/RazorAHRS.h | 6 ++-- .../magnetometer_calibration.m | 8 ++--- .../Magnetometer_calibration.pde | 19 ++++++----- .../Razor_AHRS_test/Razor_AHRS_test.pde | 13 +++---- README.md | 2 +- 19 files changed, 60 insertions(+), 54 deletions(-) rename Arduino/Configure_BT_Dummy/{Configure_BT_Dummy.pde => Configure_BT_Dummy.ino} (100%) rename Arduino/Razor_AHRS/{Compass.pde => Compass.ino} (100%) rename Arduino/Razor_AHRS/{DCM.pde => DCM.ino} (100%) rename Arduino/Razor_AHRS/{Math.pde => Math.ino} (100%) rename Arduino/Razor_AHRS/{Output.pde => Output.ino} (100%) rename Arduino/Razor_AHRS/{Razor_AHRS.pde => Razor_AHRS.ino} (96%) rename Arduino/Razor_AHRS/{Sensors.pde => Sensors.ino} (100%) diff --git a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/DeclinationHelper.java b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/DeclinationHelper.java index ac28516..5759c39 100644 --- a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/DeclinationHelper.java +++ b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/DeclinationHelper.java @@ -4,11 +4,11 @@ * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/ObjectPool.java b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/ObjectPool.java index 481d623..5c9f372 100644 --- a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/ObjectPool.java +++ b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/ObjectPool.java @@ -1,14 +1,14 @@ /****************************************************************************************** -* Android Java Interface for Razor AHRS v1.4.1 +* Android Java Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorAHRS.java b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorAHRS.java index 268e113..153d9c3 100644 --- a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorAHRS.java +++ b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorAHRS.java @@ -1,5 +1,5 @@ /****************************************************************************************** -* Android Java Interface for Razor AHRS v1.4.1 +* Android Java Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * diff --git a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorListener.java b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorListener.java index ebe1772..d7f6b5f 100644 --- a/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorListener.java +++ b/Android/RazorAHRS/src/de/tuberlin/qu/razorahrs/RazorListener.java @@ -1,5 +1,5 @@ /****************************************************************************************** -* Android Java Interface for Razor AHRS v1.4.1 +* Android Java Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * diff --git a/Android/RazorExampleApp/src/de/tuberlin/qu/RazorExample.java b/Android/RazorExampleApp/src/de/tuberlin/qu/RazorExample.java index b62435a..033cda7 100644 --- a/Android/RazorExampleApp/src/de/tuberlin/qu/RazorExample.java +++ b/Android/RazorExampleApp/src/de/tuberlin/qu/RazorExample.java @@ -1,14 +1,14 @@ /****************************************************************************************** -* Android Java Interface for Razor AHRS v1.4.1 +* Android Java Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/Arduino/Configure_BT_Dummy/Configure_BT_Dummy.pde b/Arduino/Configure_BT_Dummy/Configure_BT_Dummy.ino similarity index 100% rename from Arduino/Configure_BT_Dummy/Configure_BT_Dummy.pde rename to Arduino/Configure_BT_Dummy/Configure_BT_Dummy.ino diff --git a/Arduino/Razor_AHRS/Compass.pde b/Arduino/Razor_AHRS/Compass.ino similarity index 100% rename from Arduino/Razor_AHRS/Compass.pde rename to Arduino/Razor_AHRS/Compass.ino diff --git a/Arduino/Razor_AHRS/DCM.pde b/Arduino/Razor_AHRS/DCM.ino similarity index 100% rename from Arduino/Razor_AHRS/DCM.pde rename to Arduino/Razor_AHRS/DCM.ino diff --git a/Arduino/Razor_AHRS/Math.pde b/Arduino/Razor_AHRS/Math.ino similarity index 100% rename from Arduino/Razor_AHRS/Math.pde rename to Arduino/Razor_AHRS/Math.ino diff --git a/Arduino/Razor_AHRS/Output.pde b/Arduino/Razor_AHRS/Output.ino similarity index 100% rename from Arduino/Razor_AHRS/Output.pde rename to Arduino/Razor_AHRS/Output.ino diff --git a/Arduino/Razor_AHRS/Razor_AHRS.pde b/Arduino/Razor_AHRS/Razor_AHRS.ino similarity index 96% rename from Arduino/Razor_AHRS/Razor_AHRS.pde rename to Arduino/Razor_AHRS/Razor_AHRS.ino index bb59dbd..2fa807a 100644 --- a/Arduino/Razor_AHRS/Razor_AHRS.pde +++ b/Arduino/Razor_AHRS/Razor_AHRS.ino @@ -1,14 +1,14 @@ /*************************************************************************************************************** -* Razor AHRS Firmware v1.4.1 +* Razor AHRS Firmware v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" (SEN-10125 and SEN-10736) * and "9DOF Sensor Stick" (SEN-10183, 10321 and SEN-10724) * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs * * @@ -42,6 +42,8 @@ * * v1.4.1 * * Added output modes to read raw and/or calibrated sensor data in text or binary format. * * Added static magnetometer soft iron distortion compensation +* * v1.4.2 +* * (No core firmware changes) * * TODOs: * * Allow optional use of EEPROM for storing and reading calibration values. @@ -218,7 +220,7 @@ boolean output_errors = false; // true or false #define ACCEL_Z_MIN ((float) -250) #define ACCEL_Z_MAX ((float) 250) -// Magnetometer (standard calibration) +// Magnetometer (standard calibration mode) // "magn x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX" #define MAGN_X_MIN ((float) -600) #define MAGN_X_MAX ((float) 600) @@ -227,7 +229,7 @@ boolean output_errors = false; // true or false #define MAGN_Z_MIN ((float) -600) #define MAGN_Z_MAX ((float) 600) -// Magnetometer (extended calibration) +// Magnetometer (extended calibration mode) // Uncommend to use extended magnetometer calibration (compensates hard & soft iron errors) //#define CALIBRATION__MAGN_USE_EXTENDED true //const float magn_ellipsoid_center[3] = {0, 0, 0}; @@ -242,12 +244,12 @@ boolean output_errors = false; // true or false /* // Calibration example: -// "accel x,y,z (min/max) = -278.00/270.00 -254.00/284.00 -294.00/235.00" -#define ACCEL_X_MIN ((float) -278) -#define ACCEL_X_MAX ((float) 270) -#define ACCEL_Y_MIN ((float) -254) -#define ACCEL_Y_MAX ((float) 284) -#define ACCEL_Z_MIN ((float) -294) +// "accel x,y,z (min/max) = -277.00/264.00 -256.00/278.00 -299.00/235.00" +#define ACCEL_X_MIN ((float) -277) +#define ACCEL_X_MAX ((float) 264) +#define ACCEL_Y_MIN ((float) -256) +#define ACCEL_Y_MAX ((float) 278) +#define ACCEL_Z_MIN ((float) -299) #define ACCEL_Z_MAX ((float) 235) // "magn x,y,z (min/max) = -511.00/581.00 -516.00/568.00 -489.00/486.00" @@ -268,10 +270,10 @@ const float magn_ellipsoid_transform[3][3] = {{0.902, -0.00354, 0.000636}, {-0.0 //const float magn_ellipsoid_center[3] = {72.3360, 23.0954, 53.6261}; //const float magn_ellipsoid_transform[3][3] = {{0.879685, 0.000540833, -0.0106054}, {0.000540833, 0.891086, -0.0130338}, {-0.0106054, -0.0130338, 0.997494}}; -//"gyro x,y,z (current/average) = -32.00/-34.82 102.00/100.41 -16.00/-16.38" -#define GYRO_AVERAGE_OFFSET_X ((float) -34.82) -#define GYRO_AVERAGE_OFFSET_Y ((float) 100.41) -#define GYRO_AVERAGE_OFFSET_Z ((float) -16.38) +//"gyro x,y,z (current/average) = -40.00/-42.05 98.00/96.20 -18.00/-18.36" +#define GYRO_AVERAGE_OFFSET_X ((float) -42.05) +#define GYRO_AVERAGE_OFFSET_Y ((float) 96.20) +#define GYRO_AVERAGE_OFFSET_Z ((float) -18.36) */ @@ -299,7 +301,7 @@ const float magn_ellipsoid_transform[3][3] = {{0.902, -0.00354, 0.000636}, {-0.0 // Check if hardware version code is defined #ifndef HW__VERSION_CODE // Generate compile error - #error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.pde (or .ino)! + #error YOU HAVE TO SELECT THE HARDWARE YOU ARE USING! See "HARDWARE OPTIONS" in "USER SETUP AREA" at top of Razor_AHRS.ino! #endif #include diff --git a/Arduino/Razor_AHRS/Sensors.pde b/Arduino/Razor_AHRS/Sensors.ino similarity index 100% rename from Arduino/Razor_AHRS/Sensors.pde rename to Arduino/Razor_AHRS/Sensors.ino diff --git a/C++/Example.cpp b/C++/Example.cpp index 73cb09b..7da7caf 100644 --- a/C++/Example.cpp +++ b/C++/Example.cpp @@ -1,14 +1,14 @@ /****************************************************************************************** -* Test Program: Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1 +* Test Program: Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/C++/RazorAHRS.cpp b/C++/RazorAHRS.cpp index 4bfaf06..42b8d2e 100644 --- a/C++/RazorAHRS.cpp +++ b/C++/RazorAHRS.cpp @@ -1,14 +1,14 @@ /****************************************************************************************** -* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1 +* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports,contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/C++/RazorAHRS.h b/C++/RazorAHRS.h index 5dbda19..9cbd897 100644 --- a/C++/RazorAHRS.h +++ b/C++/RazorAHRS.h @@ -1,14 +1,14 @@ /****************************************************************************************** -* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.1 +* Mac OSX / Unix / Linux C++ Interface for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ diff --git a/Matlab/magnetometer_calibration/magnetometer_calibration.m b/Matlab/magnetometer_calibration/magnetometer_calibration.m index e325d94..cd01f83 100644 --- a/Matlab/magnetometer_calibration/magnetometer_calibration.m +++ b/Matlab/magnetometer_calibration/magnetometer_calibration.m @@ -1,14 +1,14 @@ %****************************************************************************************** -% Magnetometer Calibration Skript for Razor AHRS v1.4.1 +% Magnetometer Calibration Skript for Razor AHRS v1.4.2 % 9 Degree of Measurement Attitude and Heading Reference System % for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" % % Released under GNU GPL (General Public License) v3.0 -% Copyright (C) 2013 Peter Bartz +% Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] % Copyright (C) 2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin % Written by Peter Bartz (peter-bartz@gmx.de) % -% Infos, updates, bug reports and feedback: +% Infos, updates, bug reports, contributions and feedback: % https://github.com/ptrbrtz/razor-9dof-ahrs %****************************************************************************************** @@ -33,7 +33,7 @@ S = comp * S; % do compensation % output info -fprintf('In the Razor_AHRS.pde (or .ino), under "SENSOR CALIBRATION" find the section that reads "Magnetometer (extended calibration)"\n'); +fprintf('In the Razor_AHRS.ino, under "SENSOR CALIBRATION" find the section that reads "Magnetometer (extended calibration)"\n'); fprintf('Replace the existing 3 lines with these:\n\n'); fprintf('#define CALIBRATION__MAGN_USE_EXTENDED true\n'); fprintf('const float magn_ellipsoid_center[3] = {%.6g, %.6g, %.6g};\n', e_center); diff --git a/Processing/Magnetometer_calibration/Magnetometer_calibration.pde b/Processing/Magnetometer_calibration/Magnetometer_calibration.pde index 66b089c..684e0f4 100644 --- a/Processing/Magnetometer_calibration/Magnetometer_calibration.pde +++ b/Processing/Magnetometer_calibration/Magnetometer_calibration.pde @@ -1,25 +1,26 @@ /****************************************************************************************** -* Magnetometer Sampling Sketch for Razor AHRS v1.4.1 +* Magnetometer Sampling Sketch for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ /* - NOTE: There seems to be a bug with the serial library in the latest Processing - versions 1.5 and 1.5.1: "WARNING: RXTX Version mismatch ...". The previous version - 1.2.1 works fine and is still available on the web. + NOTE: There seems to be a bug with the serial library in Processing versions 1.5 + and 1.5.1: "WARNING: RXTX Version mismatch ...". + Processing 2.0.x seems to work just fine. Later versions may too. + Alternatively, the older version 1.2.1 also works and is still available on the web. */ /* - NOTE: You have to install a library, before this sketch can be run! + IMPORTANT: You have to install a library, before this sketch can be run! We're using EJML for matrix math, because it's really fast: http://code.google.com/p/java-matrix-benchmark/ Also, it's released under LGPL, which fits well with our GPL. @@ -29,6 +30,7 @@ create a folder "library" inside "EJML" and put the .jar inside. Rename to EJML.jar. So you should have "libraries/EJML/library/EJML.jar". Restart Processing and you're good. More info on installing libraries in Processing: http://wiki.processing.org/w/How_to_Install_a_Contributed_Library + Tested to be working with EJML 0.17 and 0.23. */ import org.ejml.data.*; import org.ejml.simple.*; @@ -45,6 +47,7 @@ final static int SERIAL_PORT_NUM = 0; import processing.opengl.*; import processing.serial.*; +import java.io.*; final static int SERIAL_PORT_BAUD_RATE = 57600; @@ -361,7 +364,7 @@ void outputCalibration() { println("\n"); // Output calibration - System.out.printf("In the Razor_AHRS.pde (or .ino), under 'SENSOR CALIBRATION' find the section that reads 'Magnetometer (extended calibration)'\n"); + System.out.printf("In the Razor_AHRS.ino, under 'SENSOR CALIBRATION' find the section that reads 'Magnetometer (extended calibration)'\n"); System.out.printf("Replace the existing 3 lines with these:\n\n"); System.out.printf("#define CALIBRATION__MAGN_USE_EXTENDED true\n"); System.out.printf("const float magn_ellipsoid_center[3] = {%.6g, %.6g, %.6g};\n", center.get(0), center.get(1), center.get(2)); diff --git a/Processing/Razor_AHRS_test/Razor_AHRS_test.pde b/Processing/Razor_AHRS_test/Razor_AHRS_test.pde index ee361df..9ce08ed 100644 --- a/Processing/Razor_AHRS_test/Razor_AHRS_test.pde +++ b/Processing/Razor_AHRS_test/Razor_AHRS_test.pde @@ -1,21 +1,22 @@ /****************************************************************************************** -* Test Sketch for Razor AHRS v1.4.1 +* Test Sketch for Razor AHRS v1.4.2 * 9 Degree of Measurement Attitude and Heading Reference System * for Sparkfun "9DOF Razor IMU" and "9DOF Sensor Stick" * * Released under GNU GPL (General Public License) v3.0 -* Copyright (C) 2013 Peter Bartz +* Copyright (C) 2013 Peter Bartz [http://ptrbrtz.net] * Copyright (C) 2011-2012 Quality & Usability Lab, Deutsche Telekom Laboratories, TU Berlin * Written by Peter Bartz (peter-bartz@gmx.de) * -* Infos, updates, bug reports and feedback: +* Infos, updates, bug reports, contributions and feedback: * https://github.com/ptrbrtz/razor-9dof-ahrs ******************************************************************************************/ /* - NOTE: There seems to be a bug with the serial library in the latest Processing - versions 1.5 and 1.5.1: "WARNING: RXTX Version mismatch ...". The previous version - 1.2.1 works fine and is still available on the web. + NOTE: There seems to be a bug with the serial library in Processing versions 1.5 + and 1.5.1: "WARNING: RXTX Version mismatch ...". + Processing 2.0.x seems to work just fine. Later versions may too. + Alternatively, the older version 1.2.1 also works and is still available on the web. */ import processing.opengl.*; diff --git a/README.md b/README.md index ee4124e..2ce9eb9 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ Quick setup ### Razor AHRS Firmware and *Processing* Test Sketch -Select your hardware in `Arduino/Razor_AHRS/Razor_AHRS.pde` under `"USER SETUP AREA"` / `"HARDWARE OPTIONS"`. +Select your hardware in `Arduino/Razor_AHRS/Razor_AHRS.ino` under `"USER SETUP AREA"` / `"HARDWARE OPTIONS"`. Upload the firmware using *Arduino*. Run `Processing/Razor_AHRS_test/Razor_AHRS_test.pde` using *Processing*.