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 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;
+#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;