altos: Flip acceleration data consistently for orientation changes

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 5a232885173b368c0a7ee9a6cab7a97a12adc5a7..c4b062fdb1d0f9f4631354ada9b2baa30df9910a 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -273,14 +273,16 @@ typedef int16_t accel_t;
 
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
+#define AO_ACCEL_INVERT                4095
+
 #define ao_data_accel(packet)                  ((packet)->mma655x)
 #if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet)             (4095 - (packet)->mma655x)
+#define ao_data_accel_cook(packet)             (AO_ACCEL_INVERT - (packet)->mma655x)
 #else
 #define ao_data_accel_cook(packet)             ((packet)->mma655x)
 #endif
 #define ao_data_set_accel(packet, accel)       ((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel)            (4095 - (accel))
+#define ao_data_accel_invert(accel)            (AO_ACCEL_INVERT - (accel))
 
 #endif
 
@@ -288,6 +290,8 @@ typedef int16_t accel_t;
 
 #define HAS_ACCEL      1
 
+#define AO_ACCEL_INVERT                0
+
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
@@ -319,4 +323,16 @@ typedef int16_t angle_t;   /* in degrees */
 
 #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_ */