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author | Julian Oes <julian@oes.ch> | 2013-06-16 12:59:50 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-16 12:59:50 +0200 |
commit | b52d561b11298abb2982b786676f49eea96259d8 (patch) | |
tree | e9bbf4abba99871b291ca1a2f8f90f1ca750564e /src/modules/sdlog2/sdlog2_messages.h | |
parent | 562253c508d1a758207d21e116cbbc194d7e0721 (diff) | |
download | px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.tar.gz px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.tar.bz2 px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.zip |
Added ctrl debugging values
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 33 |
1 files changed, 31 insertions, 2 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 40763ee1e..a80af33ef 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -156,14 +156,42 @@ struct log_STAT_s { unsigned char battery_warning; }; +/* --- CTRL - CONTROL DEBUG --- */ +#define LOG_CTRL_MSG 11 +struct log_CTRL_s { + float roll_p; + float roll_i; + float roll_d; + + float roll_rate_p; + float roll_rate_i; + float roll_rate_d; + + float pitch_p; + float pitch_i; + float pitch_d; + + float pitch_rate_p; + float pitch_rate_i; + float pitch_rate_d; + + float yaw_p; + float yaw_i; + float yaw_d; + + float yaw_rate_p; + float yaw_rate_i; + float yaw_rate_d; +}; + /* --- RC - RC INPUT CHANNELS --- */ -#define LOG_RC_MSG 11 +#define LOG_RC_MSG 12 struct log_RC_s { float channel[8]; }; /* --- OUT0 - ACTUATOR_0 OUTPUT --- */ -#define LOG_OUT0_MSG 12 +#define LOG_OUT0_MSG 13 struct log_OUT0_s { float output[8]; }; @@ -182,6 +210,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), + LOG_FORMAT(CTRL, "ffffffffffffffffff", "RollP,RollI,RollD,RollRateP,RollRateI,RollRateD,PitchP,PitchI,PitchD,PitchRateP,PitchRateI,PitchRateD,YawP,YawI,YawD,YawRateP,YawRateI,YawRateD"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), }; |