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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:32:25 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-20 11:38:37 +0400 |
| commit | 462a9c84540e9258a5ab4270b258e5809cb5f88b (patch) | |
| tree | 9c60da7b37b7d2580995ea0b55d1ddc0762b1cf0 /src | |
| parent | 3bfc4ed5174c60de7eb98efbbf3c7729fcaa231e (diff) | |
| download | px4-firmware-462a9c84540e9258a5ab4270b258e5809cb5f88b.tar.gz px4-firmware-462a9c84540e9258a5ab4270b258e5809cb5f88b.tar.bz2 px4-firmware-462a9c84540e9258a5ab4270b258e5809cb5f88b.zip | |
sdlog2: add angular accelerations to ATT message
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 3 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 5 |
2 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f89b49acf..3c3f1a074 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -986,6 +986,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.roll_acc = buf.att.rollacc; + log_msg.body.log_ATT.pitch_acc = buf.att.pitchacc; + log_msg.body.log_ATT.yaw_acc = buf.att.yawacc; LOGBUFFER_WRITE_AND_COUNT(ATT); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 2b61378ed..43645c302 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -63,6 +63,9 @@ struct log_ATT_s { float roll_rate; float pitch_rate; float yaw_rate; + float roll_acc; + float pitch_acc; + float yaw_acc; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -206,7 +209,7 @@ struct log_ARSP_s { static const struct log_format_s log_formats[] = { LOG_FORMAT(TIME, "Q", "StartTime"), - LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), |