/**
* @brief Angular velocity (degrees per second) in body frame.
* @param[out] data Angular velocity in dps, q16 fixed point.
* @param[out] accuracy Accuracy of the measurement from 0 (least accurate)
* to 3 (most accurate).
* @param[out] timestamp The time in milliseconds when this sensor was read.
* @return 1 if data was updated.
*/
int inv_get_sensor_type_gyro(long *data, int8_t *accuracy, inv_time_t *timestamp)
{
inv_get_gyro_set(data, accuracy, timestamp);
if (eMPL_out.gyro_status & INV_NEW_DATA)
return 1;
else
return 0;
}
/**
* Angular velocity (degrees per second) in body frame.
* @param[out] values Angular velocity in dps.
* @param[out] accuracy 0 (uncalibrated) to 3 (most accurate).
* @param[out] timestamp Time when sensor was sampled.
*/
void inv_get_sensor_type_gyro_float(float *values, int8_t *accuracy,
inv_time_t *timestamp)
{
long gyro[3];
inv_get_gyro_set(gyro, accuracy, timestamp);
values[0] = (float)gyro[0] / 65536.f;
values[1] = (float)gyro[1] / 65536.f;
values[2] = (float)gyro[2] / 65536.f;
}
