X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=7e2f85d8fb569894c09a75672f57f046df048007;hb=59f355f5288b42b2e47743d06e41e55819a55f64;hp=6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2;hpb=7f664da148ae15d46d179d8ecede6fc0bc710ffb;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb..7e2f85d8 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -288,4 +288,25 @@ typedef int16_t accel_t;
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;
+typedef int32_t angle_t;
+
+/* 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)->mpu6000.accel_y)
+#define ao_data_across(packet)	((packet)->mpu6000.accel_x)
+#define ao_data_through(packet)	((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */