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altos: Support accel-only IMU configurations
[fw/altos]
/
src
/
kernel
/
ao_sample.h
diff --git
a/src/kernel/ao_sample.h
b/src/kernel/ao_sample.h
index 4c51a58c3f0a0089f893f3004a239b3e37d7b3cf..04e97e7b29f0c309b1a1a6710cad314d18731dbb 100644
(file)
--- a/
src/kernel/ao_sample.h
+++ b/
src/kernel/ao_sample.h
@@
-133,16
+133,21
@@
extern accel_t ao_ground_accel; /* startup acceleration */
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
extern accel_t ao_accel_2g; /* factory accel calibration */
extern int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
-#if HAS_
GYRO
+#if HAS_
IMU
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
extern accel_t ao_ground_accel_along;
extern accel_t ao_ground_accel_across;
extern accel_t ao_ground_accel_through;
-extern int32_t ao_ground_pitch; /* * 512 */
-extern int32_t ao_ground_yaw; /* * 512 */
-extern int32_t ao_ground_roll; /* * 512 */
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
extern accel_t ao_sample_accel_along;
extern accel_t ao_sample_accel_across;
extern accel_t ao_sample_accel_through;
+#endif
+#if HAS_GYRO
+#ifndef HAS_IMU
+#define HAS_IMU 1
+#endif
+extern int32_t ao_ground_pitch; /* * 512 */
+extern int32_t ao_ground_yaw; /* * 512 */
+extern int32_t ao_ground_roll; /* * 512 */
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;
extern gyro_t ao_sample_roll;
extern gyro_t ao_sample_pitch;
extern gyro_t ao_sample_yaw;