2026-03-18 21:43:28 +00:00
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#pragma once
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2026-04-02 18:57:52 +01:00
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#include "drone_controller.h"
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2026-03-23 11:01:23 +00:00
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#include <cstdint>
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2026-04-02 18:57:52 +01:00
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#ifdef LOW
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#undef LOW
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#endif
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#ifdef HIGH
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#undef HIGH
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#endif
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2026-03-18 21:43:28 +00:00
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#include "BNO08x.hpp"
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struct imu_state {
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Vec3C accel = {0, 0, 0};
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QuatC rot = {0, 0, 0, 1};
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int64_t last_time = -1;
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};
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BNO08x *setup_imu(imu_state *state);
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