X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=abbace8e88981463326d8fbb83593009028ab9d3;hp=3918f4e04e4b9cf6931fcb5aaa85ad50695bc083;hb=df08028ff5dd892dafa667fde1fbf9de43f82fea;hpb=30e4e286eec31e69ad1e69a44cf00d4549a09f88

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 3918f4e0..abbace8e 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -328,8 +328,6 @@ 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 */
@@ -382,6 +380,7 @@ typedef int16_t angle_t;	/* in degrees */
 /* X axis is aligned in the other board axis (across) */
 /* Z axis is aligned perpendicular to the board (through) */
 
+#ifndef ao_data_along
 #define ao_data_along(packet)	((packet)->mpu9250.accel_y)
 #define ao_data_across(packet)	((packet)->mpu9250.accel_x)
 #define ao_data_through(packet)	((packet)->mpu9250.accel_z)
@@ -389,6 +388,7 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
 #define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+#endif
 
 static inline float ao_convert_gyro(float sensor)
 {
@@ -425,9 +425,11 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
  * sensors. Also, the Z axis is flipped in sign.
  */
 
+#ifndef ao_data_mag_along
 #define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
 #define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
 #define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+#endif
 
 #endif