-extern __pdata accel_t ao_ground_accel_along;
-extern __pdata accel_t ao_ground_accel_across;
-extern __pdata accel_t ao_ground_accel_through;
-extern __pdata int32_t ao_ground_pitch; /* * 512 */
-extern __pdata int32_t ao_ground_yaw; /* * 512 */
-extern __pdata int32_t ao_ground_roll; /* * 512 */
-extern __pdata accel_t ao_sample_accel_along;
-extern __pdata accel_t ao_sample_accel_across;
-extern __pdata accel_t ao_sample_accel_through;
-extern __pdata gyro_t ao_sample_roll;
-extern __pdata gyro_t ao_sample_pitch;
-extern __pdata gyro_t ao_sample_yaw;
-extern __pdata angle_t ao_sample_orient;
+#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;
+#define AO_NUM_ORIENT 64
+extern angle_t ao_sample_orient;
+extern angle_t ao_sample_orients[AO_NUM_ORIENT];
+extern uint8_t ao_sample_orient_pos;
+#endif
+#if HAS_MOTOR_PRESSURE
+extern motor_pressure_t ao_ground_motor_pressure;
+extern motor_pressure_t ao_sample_motor_pressure;