diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fb7609435..6741c7e25 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -391,6 +391,20 @@ struct log_TEL_s { uint64_t heartbeat_time; }; +/* --- VISN - VISION POSITION --- */ +#define LOG_VISN_MSG 38 +struct log_VISN_s { + float x; + float y; + float z; + float vx; + float vy; + float vz; + float qx; + float qy; + float qz; + float qw; +}; /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -449,6 +463,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), |