From: Keith Packard <keithp@keithp.com>
Date: Fri, 21 Feb 2020 07:42:24 +0000 (-0800)
Subject: ao-tools: Handle TeleMega v4.0 telemetry in ao-telem
X-Git-Tag: 1.9.2~2^2~15
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=101d068b92031169e2b11350528be0833ff2f8ea

ao-tools: Handle TeleMega v4.0 telemetry in ao-telem

Same packet format as older telemega, but axes differ

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 02d53ff3..984184d6 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -150,7 +150,8 @@ main (int argc, char **argv)
 					}
 					printf ("\n");
 					break;
-				case AO_TELEMETRY_MEGA_SENSOR:
+				case AO_TELEMETRY_MEGA_SENSOR_MPU:
+				case AO_TELEMETRY_MEGA_SENSOR_BMX160:
 					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,
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index 256af3a1..25576fca 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -160,8 +160,9 @@ struct ao_telemetry_companion {
 	uint16_t				companion_data[AO_COMPANION_MAX_CHANNELS];	/*  8 */
 	/* 32 */
 };
-	
-#define AO_TELEMETRY_MEGA_SENSOR	0x08
+
+#define AO_TELEMETRY_MEGA_SENSOR_MPU		0x08	/* Invensense IMU */
+#define AO_TELEMETRY_MEGA_SENSOR_BMX160		0x12	/* BMX160 IMU */
 
 struct ao_telemetry_mega_sensor {
 	uint16_t	serial;		/*  0 */