diff options
| author | Keith Packard <keithp@keithp.com> | 2012-12-17 17:03:41 -0800 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2012-12-17 17:03:41 -0800 |
| commit | b1d37be4c024e9690107c693d9819229025966fa (patch) | |
| tree | 7014df48ae04daf6b8eefe53b2b1853ec3e5993a /src/core/ao_data.h | |
| parent | b6c9e8ffc87481a23ba90fa22df7c9421e2cd6a6 (diff) | |
altos: Average MPU6000 values on ground for later use
Having long-term ground averages recorded to the eeprom file will make
post-flight analysis of the data better.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/core/ao_data.h')
| -rw-r--r-- | src/core/ao_data.h | 21 |
1 files changed, 21 insertions, 0 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 6fdd19cb..7e2f85d8 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -288,4 +288,25 @@ typedef int16_t accel_t; #endif +#if !HAS_GYRO && HAS_MPU6000 + +#define HAS_GYRO 1 + +typedef int16_t gyro_t; +typedef int32_t angle_t; + +/* Y axis is aligned with the direction of motion (along) */ +/* X axis is aligned in the other board axis (across) */ +/* Z axis is aligned perpendicular to the board (through) */ + +#define ao_data_along(packet) ((packet)->mpu6000.accel_y) +#define ao_data_across(packet) ((packet)->mpu6000.accel_x) +#define ao_data_through(packet) ((packet)->mpu6000.accel_z) + +#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y) +#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x) +#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z) + +#endif + #endif /* _AO_DATA_H_ */ |