#define BEEPER_CHANNEL 2
#define BEEPER_PORT (&stm_gpioe)
#define BEEPER_PIN 4
-#define AO_BEEP_MID_DEFAULT 179 /* 2100 Hz */
-#define AO_BEEP_MAKE_LOW(m) ((uint8_t) ((m) * 197U/179U)) /* 1900 Hz */
-#define AO_BEEP_MAKE_HIGH(m) ((uint8_t) ((m) * 163U/179U)) /* 2300 Hz */
#define HAS_BATTERY_REPORT 1
#define HAS_RADIO 1
#define HAS_TELEMETRY 1
#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+/*
+ * Voltage divider on ADC pyro battery sampler
+ */
+#define AO_PYRO_BATTERY_DIV_PLUS 100 /* 100k */
+#define AO_PYRO_BATTERY_DIV_MINUS 27 /* 27k */
+
/*
* Voltage divider on ADC igniter samplers
*/
/*
*
- * If the board is laying component side up with
- * the antenna (nose) pointing north
+ * Here are the required sensor signs:
+ *
+ * +along nose up
+ * +across USB down
+ * +through TH down
*
- * +along north +roll left up
- * +across west +pitch nose down
- * +through up +yaw left turn
+ * With the board aligned to have positive accel for the relevant
+ * axis, looking down from above we have:
+ *
+ * +roll counter clockwise (nose up)
+ * +pitch counter clockwise (USB down)
+ * +yaw counter clockwise (TH down)
*/
/*
- * bmi088
- *
- * pin 1 NE corner of chip
+ * On TMega v6, bmi088 pin 1 (NE corner of chip) is placed towards the
+ * USB and antenna edges of the board. Relative to bmi088 specs, to
+ * get the above values, we need to flip the Y axis, assigning values
+ * as follows:
*
- * +along +Y +roll +Y
- * +across -X +pitch -X
+ * +along +X +roll +X
+ * +across -Y +pitch -Y
* +through +Z +yaw +Z
*/
#define AO_BMI088_GYR_CS_PIN 13
#define HAS_IMU 1
-#define ao_bmi088_along(m) ((m)->acc.y)
-#define ao_bmi088_across(m) (-(m)->acc.x)
+#define ao_bmi088_along(m) ((m)->acc.x)
+#define ao_bmi088_across(m) (-(m)->acc.y)
#define ao_bmi088_through(m) ((m)->acc.z)
-#define ao_bmi088_roll(m) ((m)->gyr.y)
-#define ao_bmi088_pitch(m) (-(m)->gyr.x)
+#define ao_bmi088_roll(m) ((m)->gyr.x)
+#define ao_bmi088_pitch(m) (-(m)->gyr.y)
#define ao_bmi088_yaw(m) ((m)->gyr.z)
#define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088)