X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.h;h=04e97e7b29f0c309b1a1a6710cad314d18731dbb;hb=56310df28e96878c463eb2dae2791652606b4b59;hp=4c51a58c3f0a0089f893f3004a239b3e37d7b3cf;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index 4c51a58c..04e97e7b 100644
--- 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
-#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;