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_telemetry.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_telemetry.c')
| -rw-r--r-- | src/kernel/ao_telemetry.c | 16 |
1 files changed, 15 insertions, 1 deletions
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 2ae1e41b..9ed612ce 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -141,7 +141,7 @@ ao_send_mega_sensor(void) telemetry.generic.tick = packet->tick; telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR; -#if HAS_MPU6000 +#if HAS_MPU6000 || HAS_MPU9250 telemetry.mega_sensor.orient = ao_sample_orient; #endif telemetry.mega_sensor.accel = ao_data_accel(packet); @@ -164,6 +164,20 @@ ao_send_mega_sensor(void) telemetry.mega_sensor.mag_y = packet->hmc5883.y; #endif +#if HAS_MPU9250 + telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x; + telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y; + telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z; + + telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x; + telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y; + telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z; + + telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x; + telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z; + telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y; +#endif + ao_telemetry_send(); } |