add AHRS interfaces for vehicle attitude control

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)
+}