From 101d068b92031169e2b11350528be0833ff2f8ea Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 20 Feb 2020 23:42:24 -0800 Subject: [PATCH] ao-tools: Handle TeleMega v4.0 telemetry in ao-telem Same packet format as older telemega, but axes differ Signed-off-by: Keith Packard --- ao-tools/ao-telem/ao-telem.c | 3 ++- ao-tools/lib/cc-telemetry.h | 5 +++-- 2 files changed, 5 insertions(+), 3 deletions(-) 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 */ -- 2.30.2