altos: Intgrate hmc5883 sensor into adc ring

[fw/altos] / src / core / ao_log_mega.c

diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c
index 1763b9ebac6ad39e88a1b6592b0095d33ce80843..68e2af49da839e2d4944726e48d675a4634376d8 100644 (file)
--- a/src/core/ao_log_mega.c
+++ b/src/core/ao_log_mega.c
@@ -23,6 +23,8 @@
 static __xdata uint8_t ao_log_mutex;
 static __xdata struct ao_log_mega log;
 
+__code uint8_t ao_log_format = AO_LOG_FORMAT_MEGAMETRUM;
+
 static uint8_t
 ao_log_csum(__xdata uint8_t *b) __reentrant
 {
@@ -118,6 +120,10 @@ ao_log(void)
                                log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
                                log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
                                log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
+                               log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
+                               log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+                               log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
+                               log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
                                ao_log_mega(&log);
                                if (ao_log_state <= ao_flight_coast)
                                        next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;