diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 49 |
1 files changed, 43 insertions, 6 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 358637f93..9be96a62e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -152,15 +152,15 @@ struct log_ATTC_s { /* --- STAT - VEHICLE STATE --- */ #define LOG_STAT_MSG 10 struct log_STAT_s { - unsigned char state; - unsigned char flight_mode; - unsigned char manual_control_mode; - unsigned char manual_sas_mode; - unsigned char armed; + uint8_t state; + uint8_t flight_mode; + uint8_t manual_control_mode; + uint8_t manual_sas_mode; + uint8_t armed; float battery_voltage; float battery_current; float battery_remaining; - unsigned char battery_warning; + uint8_t battery_warning; }; /* --- CTRL - CONTROL DEBUG --- */ @@ -229,6 +229,41 @@ struct log_GPOS_s { float vel_e; float vel_d; }; + +/* --- GPSP - GLOBAL POSITION SETPOINT --- */ +#define LOG_GPSP_MSG 17 +struct log_GPSP_s { + uint8_t altitude_is_relative; + int32_t lat; + int32_t lon; + float altitude; + float yaw; + float loiter_radius; + int8_t loiter_direction; + uint8_t nav_cmd; + float param1; + float param2; + float param3; + float param4; +}; + +/* --- ESC - ESC STATE --- */ +#define LOG_ESC_MSG 18 +struct log_ESC_s { + uint16_t counter; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; + uint16_t esc_address; + uint16_t esc_version; + uint16_t esc_voltage; + uint16_t esc_current; + uint16_t esc_rpm; + uint16_t esc_temperature; + float esc_setpoint; + uint16_t esc_setpoint_raw; +}; + #pragma pack(pop) /* construct list of all message formats */ @@ -251,6 +286,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), + LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |