diff options
| author | Keith Packard <keithp@keithp.com> | 2017-12-02 15:32:38 -0600 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2017-12-02 15:52:43 -0600 |
| commit | f0068719b17019c5cd7ed318364a0581caf64e1a (patch) | |
| tree | aed3ba2002e6337d4148887ecc3cb5ab5422965e /src/kernel/ao_log_mega.c | |
| parent | c31744299e5a4342bbe26d3735ee2d8f09192ae9 (diff) | |
altos/kernel: MPU9250 support
Use MPU9250 for accel, gyro and mag data in logging, telemetry and
flight status computations.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/kernel/ao_log_mega.c')
| -rw-r--r-- | src/kernel/ao_log_mega.c | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/kernel/ao_log_mega.c b/src/kernel/ao_log_mega.c index d1cf4f13..c6bdf1e2 100644 --- a/src/kernel/ao_log_mega.c +++ b/src/kernel/ao_log_mega.c @@ -94,6 +94,17 @@ ao_log(void) log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z; log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y; #endif +#if HAS_MPU9250 + log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x; + log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y; + log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z; + log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x; + log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y; + log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z; + log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x; + log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z; + log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y; +#endif log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]); ao_log_write(&log); if (ao_log_state <= ao_flight_coast) |