altos: Add TeleMega v6.0

[fw/altos] / src / kernel / ao_telemetry.c

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index e0f4d8c22aea4f6399cf03c4b46ad3915b63b335..8586efd548f59cce09f4aa4b0de43a439471ba5b 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -142,6 +142,8 @@ ao_send_mega_sensor(void)
 #if AO_LOG_NORMALIZED
 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
        telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#elif AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
+       telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_BMI088_MMC5983;
 #else
 #error unknown normalized log type
 #endif
@@ -153,7 +155,7 @@ ao_send_mega_sensor(void)
        telemetry.mega_norm.pres = ao_data_pres(packet);
        telemetry.mega_norm.temp = ao_data_temp(packet);
 
-#if HAS_MPU6000
+#ifdef ao_data_along
        telemetry.mega_norm.accel_along = ao_data_along(packet);
        telemetry.mega_norm.accel_across = ao_data_across(packet);
        telemetry.mega_norm.accel_through = ao_data_through(packet);
@@ -163,7 +165,7 @@ ao_send_mega_sensor(void)
        telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
 #endif
 
-#if HAS_MMC5983
+#ifdef ao_data_mag_along
        telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
        telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
        telemetry.mega_norm.mag_through = ao_data_mag_through(packet);