ao-telem: Dump orientation field from TeleMega sensor telemetry packet

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index f1755b824f82ef233a89d6ec9312bdea623700c9..da873838a7f79ad4b06e45be9815510234e8ea1f 100644 (file)
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -158,7 +158,8 @@ main (int argc, char **argv)
                                        printf ("\n");
                                        break;
                                case AO_TELEMETRY_MEGA_SENSOR:
                                        printf ("\n");
                                        break;
                                case AO_TELEMETRY_MEGA_SENSOR:

-                                       printf ("accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+                                       printf ("orient %3d accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+                                               telem.mega_sensor.orient,

                                                telem.mega_sensor.accel,
                                                telem.mega_sensor.pres,
                                                telem.mega_sensor.temp,
                                                telem.mega_sensor.accel,
                                                telem.mega_sensor.pres,
                                                telem.mega_sensor.temp,

diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index c28aceb895d2385eef28bceb8a0ae1514398a2d3..d64c4b30d3d0395cc6ce593d675dfc1ed0fa20b3 100644 (file)
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -157,7 +157,7 @@ struct ao_telemetry_mega_sensor {
        uint16_t        tick;           /*  2 */
        uint8_t         type;           /*  4 */
 
        uint16_t        tick;           /*  2 */
        uint8_t         type;           /*  4 */
 

-       uint8_t         pad5;           /*  5 */
+       uint8_t         orient;         /*  5 angle from vertical */

        int16_t         accel;          /*  6 Z axis */
 
        int32_t         pres;           /*  8 Pa * 10 */
        int16_t         accel;          /*  6 Z axis */
 
        int32_t         pres;           /*  8 Pa * 10 */