From bd2b303b596a61d314c055f35c19f9039b8823d7 Mon Sep 17 00:00:00 2001
From: Eric Westphal <BonanzaEric@gmail.com>
Date: Fri, 15 Jul 2016 01:31:03 -0400
Subject: [PATCH] Prepare for proper AHRS calculation

---
 mpu/mpu6050.go | 9 +++++++++
 mpu/mpu9250.go | 4 ++++
 2 files changed, 13 insertions(+)

diff --git a/mpu/mpu6050.go b/mpu/mpu6050.go
index 660608a4..6defdbeb 100644
--- a/mpu/mpu6050.go
+++ b/mpu/mpu6050.go
@@ -196,3 +196,12 @@ func (d *MPU6050) MagHeading() (float64, error) {return 0, nil}
 func (d *MPU6050) SlipSkid() (float64, error) {return 0, nil}
 func (d *MPU6050) RateOfTurn() (float64, error) {return 0, nil}
 func (d *MPU6050) GLoad() (float64, error) {return 0, nil}
+
+func (d *MPU6050) ReadRaw() (int64, float64, float64, float64, float64, float64, float64, float64, float64, float64, error, error) {
+	return 0, // Ts, time of last sensor reading
+		0.0, 0.0, 0.0, // Gyro x, y, z
+		0.0, 0.0, 0.0, // Accel x, y, z
+		0.0, 0.0, 0.0, // Mag x, y, z
+		errors.New("Error: ReadRaw() not implemented yet for MPU6050"),
+		errors.New("Error: MPU6050 magnetometer isn't working on RY835AI chip")
+}
diff --git a/mpu/mpu9250.go b/mpu/mpu9250.go
index f981a070..7dfd5acb 100644
--- a/mpu/mpu9250.go
+++ b/mpu/mpu9250.go
@@ -185,6 +185,10 @@ func (m *MPU9250) GLoad() (float64, error) {
 	}
 }
 
+func (m *MPU9250) ReadRaw() (int64, float64, float64, float64, float64, float64, float64, float64, float64, float64, error, error) {
+	return m.mpu.Read()
+}
+
 func (m *MPU9250) Close() {
 	if m.quit != nil {
 		m.quit <- struct{}{}