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authorBdale Garbee <bdale@gag.com>2012-12-28 22:30:26 -0700
committerBdale Garbee <bdale@gag.com>2012-12-28 22:30:26 -0700
commit59f355f5288b42b2e47743d06e41e55819a55f64 (patch)
tree1ef54ec06088f86455173a9069b538655b965ffa /src/core/ao_data.h
parent099d2b0ea59d825bd69a3fbb5523b9cbb9430ce8 (diff)
parentb70ca5eaf1c3d60bd9adf6835e1247f4147ca9c8 (diff)
Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
Diffstat (limited to 'src/core/ao_data.h')
-rw-r--r--src/core/ao_data.h21
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_ */