+#endif
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_ACCEL && HAS_MPU9250
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+/* MPU9250 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel_raw(packet) (-(packet)->mpu9250.accel_y)
+#define ao_data_accel_invert(a) (-(a))
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#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) */
+
+#ifndef ao_data_along
+#define ao_data_along(packet) ((packet)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet) ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
+#endif
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu9250_accel(sensor);
+}
+
+#endif
+
+#if !HAS_ACCEL && HAS_BMX160
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) -ao_data_along(packet)
+#define ao_data_accel_invert(a) (-(a))
+#define ao_data_accel_to_sample(accel) ao_bmx_accel_to_sample(accel)
+
+#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 */
+
+/* X axis is aligned with the direction of motion (along) */
+/* Y 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);
+}