21 lines
406 B
C
21 lines
406 B
C
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#pragma once
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#include "BNO08x.hpp"
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#include "BNO08xGlobalTypes.hpp"
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#include "drone_controller.h"
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#include <cmath>
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#include <cstdint>
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struct imu_state {
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Vec3C accel = {0, 0, 0};
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Vec3C last_accel = {0, 0, 0};
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QuatC rot = {0, 0, 0, 1};
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Vec3C vel = {0, 0, 0};
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int64_t last_time = -1;
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Vec3C euler_ang = {0, 0, 0};
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};
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BNO08x *setup_imu(imu_state *state);
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extern SemaphoreHandle_t imuStateMutex;
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