+#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)
+