altos: Add normalized telemetry support

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

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index c7aebe599a317d86de65b5d8675f4694ea43cca8..b718085f8e11eb83d295322c135416bc785ec852 100644 (file)
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -297,6 +297,33 @@ struct ao_telemetry_mini {
        /* 32 */
 };
 
+#define AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983 0x13
+
+struct ao_telemetry_mega_norm {
+       uint16_t        serial;         /*  0 */
+       uint16_t        tick;           /*  2 */
+       uint8_t         type;           /*  4 */
+
+       uint8_t         orient;         /*  5 angle from vertical */
+       int16_t         accel;          /*  6 Z axis */
+
+       int32_t         pres;           /*  8 Pa * 10 */
+       int16_t         temp;           /* 12 °C * 100 */
+
+       int16_t         accel_along;    /* 14 */
+       int16_t         accel_across;   /* 16 */
+       int16_t         accel_through;  /* 18 */
+
+       int16_t         gyro_roll;      /* 20 */
+       int16_t         gyro_pitch;     /* 22 */
+       int16_t         gyro_yaw;       /* 24 */
+
+       int16_t         mag_along;      /* 26 */
+       int16_t         mag_across;     /* 28 */
+       int16_t         mag_through;    /* 30 */
+       /* 32 */
+};
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO              0x80
@@ -334,6 +361,7 @@ union ao_telemetry_all {
        struct ao_telemetry_metrum_data         metrum_data;
        struct ao_telemetry_mini                mini;
        struct ao_telemetry_baro                baro;
+       struct ao_telemetry_mega_norm           mega_norm;
 };
 
 typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];