20#define ORIENTATION_OUTPUT_PERIOD_USECS 40000 // time in usecs between orientation output samples
21#define OVERSAMPLE_RATIO 8 // int32: accel and mag sampling and algorithms run at SENSORFS / OVERS
22#define SENSORFS (uint32)((1000000.0F/((float)ORIENTATION_OUTPUT_PERIOD_USECS))* OVERSAMPLE_RATIO) // int32: 200Hz: frequency (Hz) of sensor sampling process
23#define ACCEL_OVERSAMPLE_RATIO 4 // number of accel samples to take per orientation output
24#define MAG_OVERSAMPLE_RATIO 4 // number of mag samples to take per orientation output
25#define GYRO_OVERSAMPLE_RATIO 16 // number of gyro samples to take per orientation output
26#define PRESSURE_OVERSAMPLE_RATIO 1 // number of pressure samples to take per orientation output
27#define ALGO_CHOICE Q9 // Enum for the fusion algorithm to use in computing the orientation output
28
29// normally all enabled: degrees of freedom algorithms to be executed
30
31// TODO - Check the names in the component vs. the #defines in the code.
32#define THISCOORDSYSTEM NED // the coordinate system to be used
33
34
35// Coordinate HAL Configuration set based on the Coordinate System selected