altos: Record 32-bits for gyro calibration values

[fw/altos] / src / kernel / ao_log.h

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index c13a2580f71e3bdae2af7be7d978b71d6d921eff..3354c2439bc2a06dbc647975781557155175f08a 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -43,11 +43,12 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TINY             2       /* two byte state/baro records */
 #define AO_LOG_FORMAT_TELEMETRY                3       /* 32 byte ao_telemetry records */
 #define AO_LOG_FORMAT_TELESCIENCE      4       /* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_TELEMEGA         5       /* 32 byte typed telemega records */
+#define AO_LOG_FORMAT_TELEMEGA_OLD     5       /* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_EASYMINI         6       /* 16-byte MS5607 baro only, 3.0V supply */
 #define AO_LOG_FORMAT_TELEMETRUM       7       /* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_TELEMINI         8       /* 16-byte MS5607 baro only, 3.3V supply */
 #define AO_LOG_FORMAT_TELEGPS          9       /* 32 byte telegps records */
+#define AO_LOG_FORMAT_TELEMEGA         10      /* 32 byte typed telemega records with 32 bit gyro cal */
 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -208,6 +209,18 @@ struct ao_log_mega {
        uint16_t                tick;                   /* 2 */
        union {                                         /* 4 */
                /* AO_LOG_FLIGHT */
+               struct {
+                       uint16_t        flight;                 /* 4 */
+                       int16_t         ground_accel;           /* 6 */
+                       uint32_t        ground_pres;            /* 8 */
+                       int16_t         ground_accel_along;     /* 12 */
+                       int16_t         ground_accel_across;    /* 14 */
+                       int16_t         ground_accel_through;   /* 16 */
+                       int16_t         pad                     /* 18 */
+                       int32_t         ground_roll;            /* 20 */
+                       int32_t         ground_pitch;           /* 24 */
+                       int32_t         ground_yaw;             /* 28 */
+               } flight;                                       /* 32 */
                struct {
                        uint16_t        flight;                 /* 4 */
                        int16_t         ground_accel;           /* 6 */
@@ -218,7 +231,7 @@ struct ao_log_mega {
                        int16_t         ground_roll;            /* 18 */
                        int16_t         ground_pitch;           /* 20 */
                        int16_t         ground_yaw;             /* 22 */
-               } flight;                                       /* 24 */
+               } flight_old;                                   /* 24 */
                /* AO_LOG_STATE */
                struct {
                        uint16_t        state;