Merge branch 'master' into micropeak-logging

[fw/altos] / src / core / ao_data.h

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2..7e2f85d8fb569894c09a75672f57f046df048007 100644 (file)
--- 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_ */