#pragma once
// #define M5STACK_MPU6886 
#define M5STACK_MPU9250 
// #define M5STACK_MPU6050
// #define M5STACK_200Q

#include <M5Stack.h>
#include <BMM150class.h>
#include <utility/quaternionFilters.h>

#include <Smoothed.h>

#include <ArduinoJson.h>

extern float accX ;
extern float accY ;
extern float accZ ;

extern float gyroX ;
extern float gyroY ;
extern float gyroZ ;

extern float pitch ;
extern float roll ;
extern float yaw ;

extern float pitch_ahrs ;
extern float roll_ahrs ;
extern float yaw_ahrs ;

extern Smoothed<float> yaw_smooth;
extern Smoothed<float> pitch_smooth;
extern Smoothed<float> roll_smooth;

void initGyro();
void calibGyro();
void setup_imu();
void handle_imu();