int drotek_marg2_read(marg_data_t *data, drotek_marg2_t *marg2) { THROW_BEGIN(); THROW_ON_ERR(mpu6050_read(&marg2->mpu, &data->gyro, &data->acc, NULL)); THROW_ON_ERR(hmc5883_read_mag(&data->mag, &marg2->hmc)); THROW_END(); }
int drotek_marg_read(marg_data_t *data, drotek_marg_t *marg) { THROW_BEGIN(); THROW_ON_ERR(itg3200_read_gyro(data->gyro.ve, &marg->itg)); THROW_ON_ERR(bma180_read_acc(data->acc.ve, &marg->bma)); THROW_ON_ERR(hmc5883_read_mag(&data->mag, &marg->hmc)); THROW_END(); }