#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet) ((packet)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet) ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu9250_accel(sensor);
+}
+
#endif
#if !HAS_MAG && HAS_HMC5883
#endif
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
+
+#endif
+
#endif /* _AO_DATA_H_ */