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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-04 09:51:40 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-04 09:51:40 +0200 |
| commit | 77a4711ff992b4cbda03f539dd2e7bd927b76e95 (patch) | |
| tree | 96f9c77328b096c11cd9ba3319cb4d765f874bcb /src/modules/sdlog2/sdlog2_messages.h | |
| parent | 7a6d33ba47ccc65354427518674531e84e28f54c (diff) | |
| download | px4-firmware-77a4711ff992b4cbda03f539dd2e7bd927b76e95.tar.gz px4-firmware-77a4711ff992b4cbda03f539dd2e7bd927b76e95.tar.bz2 px4-firmware-77a4711ff992b4cbda03f539dd2e7bd927b76e95.zip | |
Log extended estimator status
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 29 |
1 files changed, 19 insertions, 10 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a874351b3..a3c9d2440 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -288,15 +288,7 @@ struct log_TELE_s { uint8_t txbuf; }; -/* --- ESTM - ESTIMATOR STATUS --- */ -#define LOG_ESTM_MSG 23 -struct log_ESTM_s { - float s[10]; - uint8_t n_states; - uint8_t states_nan; - uint8_t covariance_nan; - uint8_t kalman_gain_nan; -}; +// ID 23 available /* --- PWR - ONBOARD POWER SYSTEM --- */ #define LOG_PWR_MSG 24 @@ -375,6 +367,22 @@ struct log_WIND_s { float cov_y; }; +/* --- EST0 - ESTIMATOR STATUS --- */ +#define LOG_EST0_MSG 32 +struct log_EST0_s { + float s[12]; + uint8_t n_states; + uint8_t nan_flags; + uint8_t health_flags; + uint8_t timeout_flags; +}; + +/* --- EST1 - ESTIMATOR STATUS --- */ +#define LOG_EST1_MSG 33 +struct log_EST1_s { + float s[16]; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -423,7 +431,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(EST0, "ffffffffffffffBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,nStat,flagsNaN"), + LOG_FORMAT(EST1, "ffffffffffffffff", "s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), |