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