altos/kernel: MPU9250 support

[fw/altos] / src / kernel / ao_telemetry.c

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 2ae1e41bb42ffb31701176424c461831c52d98b6..9ed612ceeb263ce8dc10e91e6028522072aaa492 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -141,7 +141,7 @@ ao_send_mega_sensor(void)
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
        telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
        telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -164,6 +164,20 @@ ao_send_mega_sensor(void)
        telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 #endif
 
+#if HAS_MPU9250
+       telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+       telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+       telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+       telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+       telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+       telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+       telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+       telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+       telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
        ao_telemetry_send();
 }