X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=e1d8a1392acc537b1925de297caecf0afac93c3c;hb=95a8180f3d7929dbad65c80421f99c925f245af0;hp=339afe69882602e3730ff66543236b9f17e644b7;hpb=dcc51bb18985c24fa35bce0dd42ea3d847b960bf;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 339afe69..e1d8a139 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC	(1 << 0)
 #else
@@ -300,8 +302,8 @@ typedef int16_t accel_t;
 
 #define HAS_GYRO	1
 
-typedef int16_t	gyro_t;
-typedef int32_t angle_t;
+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) */
@@ -317,4 +319,16 @@ typedef int32_t angle_t;
 
 #endif
 
+#if !HAS_MAG && HAS_HMC5883
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+#define ao_data_mag_along(packet)	((packet)->hmc5883.x)
+#define ao_data_mag_across(packet)	((packet)->hmc5883.y)
+#define ao_data_mag_through(packet)	((packet)->hmc5883.z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */