diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 34 |
1 files changed, 26 insertions, 8 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index abc882d23..934e4dec8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -149,15 +149,15 @@ 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; }; /* --- RC - RC INPUT CHANNELS --- */ @@ -210,13 +210,29 @@ struct log_GPOS_s { 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 64 +#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; @@ -227,6 +243,7 @@ struct log_ESC_s { float esc_setpoint; uint16_t esc_setpoint_raw; }; + #pragma pack(pop) /* construct list of all message formats */ @@ -248,6 +265,7 @@ 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"), }; |