void ACC_getADC(void)
{
acc.read(accADC);
acc.align(accADC);
ACC_Common();
}
bool IMU_getADC(void)
{
if (gyro.read(gyroADC, accADC)){
GYRO_Common();
ACC_Common();
return true;
}
else
return false;
}
void GETMPU6050(void)
{
int16_t accADC16[3];
int16_t gyroADC16[3];
uint8_t i;
MPU6050ReadAllShit(accADC16, &GyroTempC100, gyroADC16);
if (cfg.align[ALIGN_ACCEL][0]) alignSensors(ALIGN_ACCEL, accADC16); else acc.align(accADC16);
if (cfg.align[ALIGN_GYRO][0]) alignSensors(ALIGN_GYRO, gyroADC16); else gyro.align(gyroADC16);
for (i = 0; i < 3; i++)
{
accADC[i] = (float)accADC16[i];
gyroADC[i] = (float)gyroADC16[i];
}
ACC_Common();
GYRO_Common();
}
void ACC_getADC(void)
{
ACC_getRawRot();
ACC_Common();
}
