From 052e66e315b7eabbbc695006bbef4c88c02eb932 Mon Sep 17 00:00:00 2001
From: soypat <graded.sp@gmail.com>
Date: Mon, 30 Aug 2021 07:37:01 -0300
Subject: [PATCH] add AHRS interfaces for vehicle attitude control

---
 imu.go | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 imu.go

diff --git a/imu.go b/imu.go
new file mode 100644
index 000000000..02c1aa976
--- /dev/null
+++ b/imu.go
@@ -0,0 +1,18 @@
+// IMU or inertial measurement units are used to
+// estimate the position and orientation of a body
+// in 3D space (such as a drone or helicopter). These
+// usually consist in an accelerometer and a gyroscope.
+
+package drivers
+
+// IMU represents an intertial measurement unit such as
+// the MPU6050 with acceleration and angular velocity measurement
+// capabilities.
+type IMU interface {
+	// Acceleration returns sensor accelerations in micro gravities
+	// with respect to the sensor's orientation.
+	Acceleration() (ax, ay, az int32)
+	// AngularVelocity returns sensor angular velocity in micro radians
+	// with respect to the sensor's orientation.
+	AngularVelocity() (gx, gy, gz int32)
+}