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author | James Goppert <james.goppert@gmail.com> | 2014-11-01 18:45:40 -0400 |
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committer | James Goppert <james.goppert@gmail.com> | 2014-11-02 12:49:43 -0500 |
commit | baba157785ee1298e70fb358a0ffe76f18fc3b54 (patch) | |
tree | bfcb112d105cbb1e2dae09018a73d040e670bfd1 /src/modules/sdlog2/sdlog2_messages.h | |
parent | acb739655d5c2ebf50449842ae2b7b9b7c76dbd1 (diff) | |
download | px4-firmware-baba157785ee1298e70fb358a0ffe76f18fc3b54.tar.gz px4-firmware-baba157785ee1298e70fb358a0ffe76f18fc3b54.tar.bz2 px4-firmware-baba157785ee1298e70fb358a0ffe76f18fc3b54.zip |
Encoder logging support.
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d49fc0c79..7fd07809d 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -407,6 +407,16 @@ struct log_VISN_s { float qw; }; +/* --- ENCODERS - ENCODER DATA --- */ +#define LOG_ENCODERS_MSG 39 +struct log_ENCODERS_s { + int64_t counts_0; + float velocity_0; + int64_t counts_1; + float velocity_1; +}; + + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), + LOG_FORMAT(ENCODERS, "qfqf", "counts_0, velocity_0, counts_1, velocity_1"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ |