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| author | Bdale Garbee <bdale@gag.com> | 2012-12-28 22:30:26 -0700 |
|---|---|---|
| committer | Bdale Garbee <bdale@gag.com> | 2012-12-28 22:30:26 -0700 |
| commit | 59f355f5288b42b2e47743d06e41e55819a55f64 (patch) | |
| tree | 1ef54ec06088f86455173a9069b538655b965ffa /src/core/ao_data.h | |
| parent | 099d2b0ea59d825bd69a3fbb5523b9cbb9430ce8 (diff) | |
| parent | b70ca5eaf1c3d60bd9adf6835e1247f4147ca9c8 (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.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_ */ |