Sensor Data

typedef struct {
  uint16_t pressure;
  uint16_t acc[3];
  uint16_t mag[3];
  uint16_t gyr[3];
  float quaternionen[4]; //w,x,y,z
  float temperature;
  float current;
  float voltage;
  float latitude;
  float longitude;
  uint16_t altitude;
  uint8_t links;
  float yaw;
  float velocity;
} flightcontrol_sensors_t;

typedef control_sensor_struct flightcontrol_sensors_t;

flightcontrol_sensors_t flightcontrol_sensors;
   
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(10085);

Zugehörige Setup Funktionen
  setup_pres_temp();  
	ina219.begin(); //setup_volt_amp
	setup_9axis(); //NICHT MEHR BENÖTIGT?
	mpu.initialize(); //MPU6050-> DMP 

Zugehörige update Funktionen:
update_pres_temp();
update_volt_amp();
update_gyr_acc();
update_mag();


Definition der Quaternionen Klasse (von Jeff Rowbergs i2cdevlib):

class Quaternion {
	public:
		float w;
		float x;
		float y;
		float z;

}