[IMU] directly send ABI messages from implementation #1154
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and get rid of the on_gps_solution callback in main
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Should we keep separate ABI sender ids for each IMU implementation that is tied to a specific board? |
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The number of IMU with have is really crazy... |
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consolidated some IDs in a common IMU_BOARD_ID... |
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@gautierhattenberger is this good to merge from your side now? |
flixr
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Apr 14, 2015
* imu_abi: [imu] use IMU_BOARD_ID for for onboard IMUs [imu] directly send ABI messages from implementation [gps] directly send ABI messages from implementation
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It looks fine for me. I couldn't test it before leaving for vacations thought, I'll be back in 10 days. |
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and remove on_gyro|accel|mag_event from main.
Based on #1153 which already does this for GPS.
AHRS aligner subscribes to gyro message but still accesses the global imu struct for now...