39 lines
536 B
C++
39 lines
536 B
C++
#pragma once
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#include "drone_controller.h"
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#include "freertos/idf_additions.h"
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#include <cstdint>
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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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#include "BNO08x.hpp"
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#ifdef PS
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#undef PS
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#endif
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#ifdef F
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#undef F
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#endif
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#include <Eigen/Dense>
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struct imu_state {
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dcont::Vec3C accel = {0, 0, 0};
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dcont::QuatC rot = {0, 0, 0, 1};
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int64_t last_time = -1;
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Eigen::Vector3f angvel;
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Eigen::Vector3f rot_euler;
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};
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void setup_imu();
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inline SemaphoreHandle_t imu_state_mutex = NULL;
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inline imu_state imu_state_var;
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