From: Keith Packard <keithp@keithp.com>
Date: Thu, 19 Jul 2012 20:41:03 +0000 (-0700)
Subject: altos: Allow 'Z' MPU6000 axis to be changed at compile time
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=a4678d7552c6981a20608394021f4f8d09dac619

altos: Allow 'Z' MPU6000 axis to be changed at compile time

This axis selects which axis to use for computing flight acceleration
when no high-g accelerometer is present.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index fdc49ca2..3944edac 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -91,9 +91,13 @@ typedef int16_t alt_t;
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)			((packet)->mpu6000.accel_y)
-#define ao_data_accel_cook(packet)		(-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.accel_y = (accel))
+#ifndef ao_accel_axis
+#define ao_accel_axis	accel_y
+#endif
+
+#define ao_data_accel(packet)			((packet)->mpu6000.ao_accel_axis)
+#define ao_data_accel_cook(packet)		(-(packet)->mpu6000.ao_accel_axis)
+#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.ao_accel_axis = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */