reverted to working, commented back in gyro

arduino/Payload_BME280_MPU6050_XS_GPS.ino

@@ -1,10 +1,3 @@
-// Payload software for CubeSatSim STEM Payload Board
-// Arduino software for STM32 or Arduino Pro Micro 
-//
-// BME280 code based on
-// MPU6050 code based on
-// GPS code based on TinyGPS simple_test example
-
 #include <Wire.h>
 #include <Adafruit_Sensor.h>
 #include <Adafruit_BME280.h>
@@ -19,14 +12,13 @@ MPU6050 mpu6050(Wire);
 TinyGPS gps;
 
 long timer = 0;
-int bmePresent = 0;
-int mpuPresent = 0;
+int bmePresent;
 int RXLED = 17;  // The RX LED has a defined Arduino pin
 int greenLED = 9;
 int blueLED = 8;
-float Sensor1 = 0.0;
-float Sensor2 = 0.0;
-float Sensor3 = 0.0;
+float Sensor1 = 0;
+float Sensor2 = 0;
+float Sensor3 = 0;
 void eeprom_word_write(int addr, int val);
 short eeprom_word_read(int addr);
 float lat = 0.0, lon = 0.0, alt = 0.0;
@@ -47,24 +39,14 @@ void setup() {
   delay(250);
   blink(500);
   delay(250);  
- 
- /**/ 
+  
   if (bme.begin(0x76)) {
     bmePresent = 1;
   } else {
     Serial.println("Could not find a valid BME280 sensor, check wiring!");
     bmePresent = 0;
   }
-/**/
-  Wire.beginTransmission(0x68);
-//  Serial.print(address, HEX);
-  byte error = Wire.endTransmission();
-  if (error == 0)
-    mpuPresent = 1;
-  else
-    Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
-/**/
-if (mpuPresent) {
+
   mpu6050.begin();
 
   if (eeprom_word_read(0) == 0xA07)
@@ -98,9 +80,6 @@ if (mpuPresent) {
     Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
   }
 }
-  pinMode(greenLED, OUTPUT);
-  pinMode(blueLED, OUTPUT);
-}
 
 void loop() {
 
@@ -130,9 +109,6 @@ void loop() {
       {
         Serial.print("OK BME280 0.0 0.0 0.0 0.0");
       }
-
-      if (mpuPresent) {
-       
       mpu6050.update();
 
       Serial.print(" MPU6050 ");
@@ -147,27 +123,39 @@ void loop() {
     Serial.print(" ");
     Serial.print(mpu6050.getAccY());   
     Serial.print(" ");
-    Serial.print(mpu6050.getAccZ()); 
-      } else {
-          Serial.print(" MPU6050 0.0 0.0 0.0 0.0 0.0 0.0");       
-      }
+    Serial.print(mpu6050.getAccZ());  
     
     Serial.print(" XS ");
     Serial.print(Sensor1);   
     Serial.print(" ");
     Serial.print(Sensor2);              
     Serial.print(" ");
-    Serial.println(Sensor3);  
-/*
-    Serial.print(" GPS "); // return previous GPS data (can't wait due to 1 sec delay)
-    Serial.print(lat);   
-    Serial.print(" ");
-    Serial.print(lon);              
-    Serial.print(" ");
-    Serial.println(alt);   
- */   
-
-/*    
+    Serial.println(Sensor3); 
+     
+    bool newData = false;
+    unsigned long chars;
+    unsigned short sentences, failed;
+    
+  // For one second we parse GPS data and report some key values
+  for (unsigned long start = millis(); millis() - start < 1000;) // 1000;)
+  {  
+    while (Serial2.available())
+    {
+      char c = Serial2.read();
+//      Serial.write(c); // uncomment this line if you want to see the GPS data flowing
+      if (gps.encode(c)) // Did a new valid sentence come in?
+        newData = true;
+    }
+  } 
+    if (newData)
+  {
+    float flon, flat;
+    unsigned long age;
+    gps.f_get_position(&flat, &flon, &age);
+    Sensor1 = flat;
+    Sensor2 = flon;
+    Sensor3 = (float) gps.altitude()/100.0;
+  }     
     float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ()); 
     float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
 //    Serial.print(rotation);
@@ -182,8 +170,7 @@ void loop() {
     if (rotation > 5)
         digitalWrite(blueLED, HIGH);
     else
-        digitalWrite(blueLED, LOW);   
- */              
+        digitalWrite(blueLED, LOW);          
     }    
   }
 
@@ -214,7 +201,6 @@ void loop() {
       {
         Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
       }
-      if (mpuPresent) {
       mpu6050.update();
 
       Serial1.print(" MPU6050 ");
@@ -230,21 +216,14 @@ void loop() {
     Serial1.print(mpu6050.getAccY());   
     Serial1.print(" ");
     Serial1.print(mpu6050.getAccZ());   
-      } else {
-      Serial1.print(" MPU6050 0.0 0.0 0.0 0.0 0.0 0.0");       
-     
-    }
+  
     Serial1.print(" XS ");
     Serial1.print(Sensor1);   
     Serial1.print(" ");
     Serial1.print(Sensor2);              
     Serial1.print(" ");
-    Serial1.println(Sensor3);    
+    Serial1.println(Sensor3);   
 
-//    Serial1.println(" GPS 0.0 0.0");
-    
-    }
-  }
     bool newData = false;
     unsigned long chars;
     unsigned short sentences, failed;
@@ -268,18 +247,8 @@ void loop() {
     Sensor1 = flat;
     Sensor2 = flon;
     Sensor3 = (float) gps.altitude()/100.0;
+  }
     
-/*    
-    Serial.print("LAT=");
-    Serial.print(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flat, 6);
-    Serial.print(" LON=");
-    Serial.print(flon == TinyGPS::GPS_INVALID_F_ANGLE ? 0.0 : flon, 6);
-    Serial.print(" SAT=");
-    Serial.print(gps.satellites() == TinyGPS::GPS_INVALID_SATELLITES ? 0 : gps.satellites());
-    Serial.print(" PREC=");
-    Serial.print(gps.hdop() == TinyGPS::GPS_INVALID_HDOP ? 0 : gps.hdop());
-*/
-  } 
     float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ()); 
     float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ()); 
 //    Serial.print(rotation);
@@ -295,6 +264,9 @@ void loop() {
         digitalWrite(blueLED, HIGH);
     else
         digitalWrite(blueLED, LOW);
+    }
+  }
+
 //  delay(100);
 }
 
@@ -341,6 +313,6 @@ void blink(int length)
 
 #if defined __AVR_ATmega32U4__
   digitalWrite(RXLED, HIGH);    // set the RX LED OFF
-  TXLED0; //TX LED macro to turn LED ON
+  TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
 #endif  
 }