altos/easymega-v2.0: Handle different mpu9250 orientation

[fw/altos] / src / easymega-v2.0 / ao_pins.h

diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h
index 6217b5d2376f487d168560668a1c71d4415d0368..399654f0ed6f598ed1fa9fb2f5559436181724c4 100644 (file)
--- a/src/easymega-v2.0/ao_pins.h
+++ b/src/easymega-v2.0/ao_pins.h
@@ -69,7 +69,7 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
-#define AO_LOG_FORMAT                          AO_LOG_FORMAT_TELEMEGA
+#define AO_LOG_FORMAT                          AO_LOG_FORMAT_EASYMEGA_2
 
 #define HAS_EEPROM             1
 #define USE_INTERNAL_FLASH     0
@@ -306,6 +306,18 @@ struct ao_adc {
 #define AO_MPU9250_SPI_CS_PIN  13
 #define HAS_IMU                        1
 
+#define ao_data_along(packet)  ((packet)->mpu9250.accel_x)
+#define ao_data_across(packet) (-(packet)->mpu9250.accel_y)
+#define ao_data_through(packet)        ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)   ((packet)->mpu9250.gyro_x)
+#define ao_data_pitch(packet)  (-(packet)->mpu9250.gyro_y)
+#define ao_data_yaw(packet)    ((packet)->mpu9250.gyro_z)
+
+#define ao_data_mag_along(packet)      ((packet)->mpu9250.mag_y)
+#define ao_data_mag_across(packet)     (-(packet)->mpu9250.mag_x)
+#define ao_data_mag_through(packet)    ((packet)->mpu9250.mag_z)
+
 /* ADXL375 */
 
 #define HAS_ADXL375            1