X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=8ff28fdef78eeed8d042f2213db10c3a5c33d8c2;hp=2ae1e41bb42ffb31701176424c461831c52d98b6;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=2a05849c3bf8c1617409237be48802dd6fc6255b

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 2ae1e41b..8ff28fde 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -141,7 +141,7 @@ ao_send_mega_sensor(void)
 	telemetry.generic.tick = packet->tick;
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
 	telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -164,6 +164,20 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.mag_y = packet->hmc5883.y;
 #endif
 
+#if HAS_MPU9250
+	telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+	telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+	telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+	telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+	telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+	telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+	telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+	telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+	telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
 	ao_telemetry_send();
 }
 
@@ -323,7 +337,7 @@ ao_send_configuration(void)
 			    ao_config.callsign,
 			    AO_MAX_CALLSIGN);
 		ao_xmemcpy (telemetry.configuration.version,
-			    CODE_TO_XDATA(ao_version),
+			    ao_version,
 			    AO_MAX_VERSION);
 		ao_telemetry_config_cur = ao_telemetry_config_max;
 		ao_telemetry_send();