File content as of revision 5:33abcc31b0aa:

/*typedef struct {
    float * ypr;
    float alt;
    float temp;
    int time;
} IMU_Ejection;

typedef struct {
    double target_imu_dt;
    double actual_imu_dt;
    double average_imu_dt;
    double average_imu_dt_k;
    
    void reset(){
        target_imu_dt = TARGET_IMU_DT;
        actual_imu_dt = TARGET_IMU_DT;
        average_imu_dt = TARGET_IMU_DT;
        average_imu_dt_k = AVERAGE_DT_K_GAIN;
    }
} IMU_QuadStateTimes;

//////////////////////////////////////////////////////////////

FreeIMU              IMU_imu;
unsigned int         IMU_step;
Mutex                IMU_ejectionMutex;
IMU_Ejection         IMU_eject;
IMU_QuadStateTimes   IMU_quadState;
Timer                IMU_dt_timer;
DigitalOut           IMU_led (LED_IMU);
//RtosTimer          IMU_timer; //moved to main thread stack

void IMU_init(){
    IMU_led = 1;
    IMU_step = 0;
    IMU_imu.init(true);
    IMU_quadState.reset();
}

void IMU_update (void const * param){
    ++IMU_step;
    if(IMU_step%10 == 0){
        //get results to be ejected.
        IMU_ejectionMutex.lock();
        
            IMU_led = 1;
            IMU_imu.getYawPitchRoll(IMU_eject.ypr);
            IMU_eject.alt = IMU_imu.getBaroAlt();
            IMU_eject.temp = IMU_imu.baro->getTemperature();
            QUAD_STATE_UPDATE_DT(IMU_quadState,imu,IMU_dt_timer)
            IMU_led = 0;

        IMU_ejectionMutex.unlock();
    }else{
        IMU_imu.getQ(NULL);
    }
}

void IMU_injectStateTo (QuadState & state){
    IMU_ejectionMutex.lock();
    
        state.estimated_rotation_y = IMU_eject.ypr[0];
        state.estimated_rotation_p = IMU_eject.ypr[1];
        state.estimated_rotation_r = IMU_eject.ypr[2];
        
        state.target_imu_dt = IMU_quadState.target_imu_dt;
        state.actual_imu_dt = IMU_quadState.actual_imu_dt;
        state.average_imu_dt = IMU_quadState.average_imu_dt;
        state.average_imu_dt_k = IMU_quadState.average_imu_dt_k;

    IMU_ejectionMutex.unlock();
} */