Prepare for proper AHRS calculation

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")
+}

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{}{}