From 62f893c7ec24b9873edbcdd4a2c678138cd0f907 Mon Sep 17 00:00:00 2001
From: Ali Albustami <alibustami3@gmail.com>
Date: Thu, 4 Jan 2024 02:57:20 +0300
Subject: [PATCH] add reset functions for the angles

---
 src/MPU6050_light.cpp | 18 ++++++++++++++++++
 src/MPU6050_light.h   |  4 ++++
 2 files changed, 22 insertions(+)

diff --git a/src/MPU6050_light.cpp b/src/MPU6050_light.cpp
index 738b3cd..a1d4142 100644
--- a/src/MPU6050_light.cpp
+++ b/src/MPU6050_light.cpp
@@ -208,3 +208,21 @@ void MPU6050::update(){
   angleZ += gyroZ*dt; // not wrapped
 
 }
+
+/* RESET ANGLE */
+
+void MPU6050::resetAllAngles(){
+  angleX = angleY = angleZ = 0;
+}
+
+void MPU6050::resetAngleX(){
+  angleX = 0;
+}
+
+void MPU6050::resetAngleY(){
+  angleY = 0;
+}
+
+void MPU6050::resetAngleZ(){
+  angleZ = 0;
+}
\ No newline at end of file
diff --git a/src/MPU6050_light.h b/src/MPU6050_light.h
index 2b310c3..70e05ca 100644
--- a/src/MPU6050_light.h
+++ b/src/MPU6050_light.h
@@ -96,6 +96,10 @@ class MPU6050{
 	// UPSIDE DOWN MOUNTING
 	bool upsideDownMounting = false;
 
+	void resetAllAngles();
+	void resetAngleX();
+	void resetAngleY();
+	void resetAngleZ();
 
   private:
     TwoWire *wire;