X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftelemega-v6.0%2Fao_pins.h;h=89af7ed2135107c95af3fc5459a43f00b500bd24;hb=7b24be27f67f95d909d19d767e4ac5376ea670cf;hp=da1dd15f1f95902622b6ee26af44997673b72191;hpb=fc042fa0a77d808fa7670e213e7e0c273200a043;p=fw%2Faltos

diff --git a/src/telemega-v6.0/ao_pins.h b/src/telemega-v6.0/ao_pins.h
index da1dd15f..89af7ed2 100644
--- a/src/telemega-v6.0/ao_pins.h
+++ b/src/telemega-v6.0/ao_pins.h
@@ -83,9 +83,6 @@
 #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
@@ -343,8 +340,8 @@ struct ao_adc {
  *
  *	pin 1 NE corner of chip
  *
- *	+along		+Y	+roll	+Y
- *	+across		-X	+pitch	-X
+ *	+along		+X	+roll	+X
+ *	+across		-Y	+pitch	-Y
  *	+through	+Z	+yaw	+Z
  */
 
@@ -356,12 +353,12 @@ struct ao_adc {
 #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)