-#define ao_data_roll(packet) ((packet)->mpu6000.gyro_x)
-#define ao_data_pitch(packet) (-(packet)->mpu6000.gyro_y)
-#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+#define ao_data_along(packet) ao_mpu6000_along(&(packet)->mpu6000)
+#define ao_data_across(packet) ao_mpu6000_across(&(packet)->mpu6000)
+#define ao_data_through(packet) ao_mpu6000_through(&(packet)->mpu6000)
+
+#define ao_data_roll(packet) ao_mpu6000_roll(&(packet)->mpu6000)
+#define ao_data_pitch(packet) ao_mpu6000_pitch(&(packet)->mpu6000)
+#define ao_data_yaw(packet) ao_mpu6000_yaw(&(packet)->mpu6000)