FPV

#define beta                        0.1f     
#define ACCELEROMETER_SENSITIVITY   16384.0f  
#define GYROSCOPE_SENSITIVITY       131.07f  
#define M_PI                        3.14159265359f	    
#define sampleFreq                  250.0f     			    // 250 hz sample rate!   



void Initial_MPU6050(void);
void read_mpu6050(void);
void MPU6050_WriteBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t data);
void MPU6050_WriteBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t data);
void MPU6050_ReadBits(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitStart, uint8_t length, uint8_t *data);
void MPU6050_ReadBit(uint8_t slaveAddr, uint8_t regAddr, uint8_t bitNum, uint8_t *data);
void MPU6050_GetRawAccelGyro(int16_t* AccelGyro);