diff options
Diffstat (limited to 'src/kernel/ao_data.h')
| -rw-r--r-- | src/kernel/ao_data.h | 23 |
1 files changed, 23 insertions, 0 deletions
diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 55d82e48..a7e58762 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -441,6 +441,29 @@ static inline float ao_convert_accel(int16_t sensor) #endif +#if !HAS_GYRO && HAS_BMX160 + +#define HAS_GYRO 1 + +typedef int16_t gyro_t; /* in raw sample units */ +typedef int16_t angle_t; /* in degrees */ + +/* Y axis is aligned with the direction of motion (along) */ +/* X axis is aligned in the other board axis (across) */ +/* Z axis is aligned perpendicular to the board (through) */ + +static inline float ao_convert_gyro(float sensor) +{ + return ao_bmx160_gyro(sensor); +} + +static inline float ao_convert_accel(int16_t sensor) +{ + return ao_bmx160_accel(sensor); +} + +#endif + #if !HAS_MAG && HAS_HMC5883 #define HAS_MAG 1 |