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| author | tumbili <bapstr@ethz.ch> | 2015-04-02 17:42:14 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-04 10:21:46 +0200 |
| commit | a530f16518333384295920e56cde636e39ba6809 (patch) | |
| tree | 821992b31b23d28aa8d52c2d98d3d17878fdc98c /src/modules/sdlog2 | |
| parent | a4bece7595c13579fda2a822fd867e374d27219e (diff) | |
| download | px4-firmware-a530f16518333384295920e56cde636e39ba6809.tar.gz px4-firmware-a530f16518333384295920e56cde636e39ba6809.tar.bz2 px4-firmware-a530f16518333384295920e56cde636e39ba6809.zip | |
log quaternion setpoint
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 4 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 6 |
2 files changed, 9 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1c8cdd4be..0bfd356a1 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1495,6 +1495,10 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; + log_msg.body.log_ATSP.q_w = buf.att_sp.q_d[0]; + log_msg.body.log_ATSP.q_x = buf.att_sp.q_d[1]; + log_msg.body.log_ATSP.q_y = buf.att_sp.q_d[2]; + log_msg.body.log_ATSP.q_z = buf.att_sp.q_d[3]; LOGBUFFER_WRITE_AND_COUNT(ATSP); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 49483b15a..a1fe2c95d 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -73,6 +73,10 @@ struct log_ATSP_s { float pitch_sp; float yaw_sp; float thrust_sp; + float q_w; + float q_x; + float q_y; + float q_z; }; /* --- IMU - IMU SENSORS --- */ @@ -473,7 +477,7 @@ struct log_PARM_s { static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ 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(ATSP, "ffffffff", "RollSP,PitchSP,YawSP,ThrustSP,qw,qx,qy,qz"), LOG_FORMAT_S(IMU, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), LOG_FORMAT_S(IMU1, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), LOG_FORMAT_S(IMU2, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"), |