diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-13 06:51:09 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-13 06:51:09 +0400 |
| commit | 95236c379a3b0a551f5ac26387356ecad0a82d60 (patch) | |
| tree | 4d121ac9029181f5ed22b1dccf9e46aaf7a4eeeb /src/modules/sdlog2/sdlog2_messages.h | |
| parent | f8f83d5896789defd7417d52310549c1d8f0b453 (diff) | |
| download | px4-firmware-95236c379a3b0a551f5ac26387356ecad0a82d60.tar.gz px4-firmware-95236c379a3b0a551f5ac26387356ecad0a82d60.tar.bz2 px4-firmware-95236c379a3b0a551f5ac26387356ecad0a82d60.zip | |
sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 40763ee1e..48322e0b6 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -60,6 +60,9 @@ struct log_ATT_s { float roll; float pitch; float yaw; + float roll_rate; + float pitch_rate; + float yaw_rate; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -167,13 +170,21 @@ struct log_RC_s { struct log_OUT0_s { float output[8]; }; + +/* --- ARSP - ATTITUDE RATE SET POINT --- */ +#define LOG_ARSP_MSG 13 +struct log_ARSP_s { + float roll_rate_sp; + float pitch_rate_sp; + float yaw_rate_sp; +}; #pragma pack(pop) /* construct list of all message formats */ static const struct log_format_s log_formats[] = { LOG_FORMAT(TIME, "Q", "StartTime"), - LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"), + LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), @@ -184,6 +195,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |