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| author | Julian Oes <julian@oes.ch> | 2013-06-16 17:14:22 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-06-16 17:14:22 +0200 |
| commit | bca60b98bdc1bfe5a377946d8c50d8f5c54514d9 (patch) | |
| tree | cbcf01bdd957a43eb08e4e440e6406a1fbd6eec8 /src/modules/sdlog2/sdlog2_messages.h | |
| parent | bd7f86bb6adf768169fe23b63d627a252586f6b7 (diff) | |
| parent | 216617431da72ce7b34911f63fa5958302a531e1 (diff) | |
| download | px4-firmware-bca60b98bdc1bfe5a377946d8c50d8f5c54514d9.tar.gz px4-firmware-bca60b98bdc1bfe5a377946d8c50d8f5c54514d9.tar.bz2 px4-firmware-bca60b98bdc1bfe5a377946d8c50d8f5c54514d9.zip | |
Merge branch 'pid_fixes' into new_state_machine
Conflicts:
src/modules/multirotor_att_control/multirotor_rate_control.c
src/modules/sdlog2/sdlog2.c
src/modules/sdlog2/sdlog2_messages.h
and some fixes, logging of control PID values now working
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 25 |
1 files changed, 7 insertions, 18 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 8930db33b..98a64ef21 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -159,29 +159,18 @@ struct log_STAT_s { /* --- CTRL - CONTROL DEBUG --- */ #define LOG_CTRL_MSG 11 struct log_CTRL_s { - // float roll_p; - // float roll_i; - // float roll_d; - + 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_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 --- */ @@ -210,7 +199,7 @@ 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, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"), + LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), }; |