Same packet format as older telemega, but axes differ
Signed-off-by: Keith Packard <keithp@keithp.com>
- case AO_TELEMETRY_MEGA_SENSOR:
+ case AO_TELEMETRY_MEGA_SENSOR_MPU:
+ case AO_TELEMETRY_MEGA_SENSOR_BMX160:
printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
telem.mega_sensor.orient,
telem.mega_sensor.accel,
printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
telem.mega_sensor.orient,
telem.mega_sensor.accel,
uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
/* 32 */
};
uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
/* 32 */
};
-
-#define AO_TELEMETRY_MEGA_SENSOR 0x08
+
+#define AO_TELEMETRY_MEGA_SENSOR_MPU 0x08 /* Invensense IMU */
+#define AO_TELEMETRY_MEGA_SENSOR_BMX160 0x12 /* BMX160 IMU */
struct ao_telemetry_mega_sensor {
uint16_t serial; /* 0 */
struct ao_telemetry_mega_sensor {
uint16_t serial; /* 0 */