Fix IMU magnetometer diagnostics

2026-04-24 00:31:47 +02:00
parent 53ba59e4cd
commit 92a2ccc689
10 changed files with 828 additions and 221 deletions
@@ -46,6 +46,9 @@ public:
  void read_sensor_data(float acc[3], float gyro[3]);
  void read_acc(float acc[3]);
  void read_gyro(float gyro[3]);
+  bool read_mag(int16_t *mag_x, int16_t *mag_y, int16_t *mag_z);
+  void enable_magnetometer();
+  uint8_t read_debug_reg(uint8_t reg);
  float read_temperature();
  void read_xyz(float acc[3], float gyro[3]);
  void axis_convert(float data_a[3], float data_g[3], int layout);