#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
-#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
+#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_2
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define AO_MPU9250_SPI_CS_PIN 13
#define HAS_IMU 1
+#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)
+
/* ADXL375 */
#define HAS_ADXL375 1
#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
#define AO_ADXL375_CS_PORT (&stm_gpioc)
#define AO_ADXL375_CS_PIN 12
-#define AO_ADXL375_SPI_SPEED AO_SPI_SPEED_4MHz
#define AO_ADXL375_INT1_PORT (&stm_gpiob)
#define AO_ADXL375_INT1_PIN 8