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| author | Roman Bapst <romanbapst@yahoo.de> | 2015-01-19 10:19:18 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-20 13:01:41 +0100 |
| commit | 59cb0cc3b4d91b4dd56369c47d88b4876e9784a9 (patch) | |
| tree | 561ffd1b2211a6a0f20729a9bdb8881c08ac0a5c /src/modules/sdlog2 | |
| parent | 70c7764b9f9e780664ae13d0962a55dd226117e6 (diff) | |
| download | px4-firmware-59cb0cc3b4d91b4dd56369c47d88b4876e9784a9.tar.gz px4-firmware-59cb0cc3b4d91b4dd56369c47d88b4876e9784a9.tar.bz2 px4-firmware-59cb0cc3b4d91b4dd56369c47d88b4876e9784a9.zip | |
removed secondary attitude and log quaternion
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 16 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 7 |
2 files changed, 9 insertions, 14 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 0cc193b6c..a3407e42c 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1437,6 +1437,10 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- ATTITUDE --- */ if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) { log_msg.msg_type = LOG_ATT_MSG; + log_msg.body.log_ATT.q_w = buf.att.q[0]; + log_msg.body.log_ATT.q_x = buf.att.q[1]; + log_msg.body.log_ATT.q_y = buf.att.q[2]; + log_msg.body.log_ATT.q_z = buf.att.q[3]; log_msg.body.log_ATT.roll = buf.att.roll; log_msg.body.log_ATT.pitch = buf.att.pitch; log_msg.body.log_ATT.yaw = buf.att.yaw; @@ -1447,18 +1451,6 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.gy = buf.att.g_comp[1]; log_msg.body.log_ATT.gz = buf.att.g_comp[2]; LOGBUFFER_WRITE_AND_COUNT(ATT); - // secondary attitude - log_msg.msg_type = LOG_ATT2_MSG; - log_msg.body.log_ATT.roll = buf.att.roll_sec; - log_msg.body.log_ATT.pitch = buf.att.pitch_sec; - log_msg.body.log_ATT.yaw = buf.att.yaw_sec; - log_msg.body.log_ATT.roll_rate = buf.att.rollspeed_sec; - log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed_sec; - log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed_sec; - log_msg.body.log_ATT.gx = buf.att.g_comp_sec[0]; - log_msg.body.log_ATT.gy = buf.att.g_comp_sec[1]; - log_msg.body.log_ATT.gz = buf.att.g_comp_sec[2]; - LOGBUFFER_WRITE_AND_COUNT(ATT); } /* --- ATTITUDE SETPOINT --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c9221d58a..7080d9c31 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -50,8 +50,11 @@ #pragma pack(push, 1) /* --- ATT - ATTITUDE --- */ #define LOG_ATT_MSG 2 -#define LOG_ATT2_MSG 41 struct log_ATT_s { + float q_w; + float q_x; + float q_y; + float q_z; float roll; float pitch; float yaw; @@ -460,7 +463,7 @@ struct log_PARM_s { static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ LOG_FORMAT_S(ATT, ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), - LOG_FORMAT_S(ATT2, ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT(ATT, "fffffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), 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"), |