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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 23:19:45 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 23:19:45 +0200 |
| commit | b8b6974e22b7292d5251f1d2c49b2c81e09cc06b (patch) | |
| tree | a1bc20b626882b9e0d0c8aa32bedc971c1f8b7a2 /src/modules/sdlog2/sdlog2_messages.h | |
| parent | 64e33b8896d717f73a1b1ad3189b97c98c9bddfd (diff) | |
| download | px4-firmware-b8b6974e22b7292d5251f1d2c49b2c81e09cc06b.tar.gz px4-firmware-b8b6974e22b7292d5251f1d2c49b2c81e09cc06b.tar.bz2 px4-firmware-b8b6974e22b7292d5251f1d2c49b2c81e09cc06b.zip | |
sdlog2: Add support for up to three IMU sensors
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 87f7f718f..b14ef04cc 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -73,6 +73,8 @@ struct log_ATSP_s { /* --- IMU - IMU SENSORS --- */ #define LOG_IMU_MSG 4 +#define LOG_IMU1_MSG 22 +#define LOG_IMU2_MSG 23 struct log_IMU_s { float acc_x; float acc_y; @@ -276,8 +278,8 @@ struct log_DIST_s { uint8_t flags; }; -// ID 22 available -// ID 23 available +/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */ + /* --- PWR - ONBOARD POWER SYSTEM --- */ #define LOG_PWR_MSG 24 @@ -420,7 +422,9 @@ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), - LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT_S(IMU, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT_S(IMU1, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT_S(IMU2, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), |