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| author | Roman Bapst <romanbapst@yahoo.de> | 2015-04-13 11:23:27 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-18 11:26:19 +0200 |
| commit | e097affd7aea14ffed53d31bdbee0576ae619dd5 (patch) | |
| tree | 925fc0afa66ce368a697630fff484ebcb8fb0124 /src/modules/sdlog2/sdlog2_messages.h | |
| parent | b52d0ed8a245cc25ffdaf3214f9cf793fe2f1ba6 (diff) | |
| download | px4-firmware-e097affd7aea14ffed53d31bdbee0576ae619dd5.tar.gz px4-firmware-e097affd7aea14ffed53d31bdbee0576ae619dd5.tar.bz2 px4-firmware-e097affd7aea14ffed53d31bdbee0576ae619dd5.zip | |
log multirotor attitude controller status
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 598f12a53..1f97cf722 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -453,6 +453,13 @@ struct log_VTOL_s { #define LOG_TSYN_MSG 43 struct log_TSYN_s { uint64_t time_offset; + +/* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */ +#define LOG_MACS_MSG 42 +struct log_MACS_s { + float roll_rate_integ; + float pitch_rate_integ; + float yaw_rate_integ; }; /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -524,6 +531,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"), LOG_FORMAT(TSYN, "Q", "TimeOffset"), + LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ |