void compute_imu(float _looptime) { looptime = _looptime; // get sensor readings mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); gx -= imu_offset[3]; gy -= imu_offset[4]; gz -= imu_offset[5]; mx = mpu.getExternalSensorWord(0); my = mpu.getExternalSensorWord(2); mz = mpu.getExternalSensorWord(4); /* computations */ compute_state_imu(); }