diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 27 |
1 files changed, 18 insertions, 9 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fa9bdacb8..b78b430aa 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -50,6 +50,7 @@ #pragma pack(push, 1) /* --- ATT - ATTITUDE --- */ #define LOG_ATT_MSG 2 +#define LOG_ATT2_MSG 41 struct log_ATT_s { float roll; float pitch; @@ -149,6 +150,7 @@ struct log_GPS_s { /* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */ #define LOG_ATTC_MSG 9 +#define LOG_ATC1_MSG 40 struct log_ATTC_s { float roll; float pitch; @@ -200,13 +202,19 @@ struct log_ARSP_s { /* --- FLOW - OPTICAL FLOW --- */ #define LOG_FLOW_MSG 15 struct log_FLOW_s { - int16_t flow_raw_x; - int16_t flow_raw_y; - float flow_comp_x; - float flow_comp_y; - float distance; - uint8_t quality; + uint64_t timestamp; uint8_t sensor_id; + float pixel_flow_x_integral; + float pixel_flow_y_integral; + float gyro_x_rate_integral; + float gyro_y_rate_integral; + float gyro_z_rate_integral; + float ground_distance_m; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t frame_count_since_last_readout; + int16_t gyro_temperature; + uint8_t quality; }; /* --- GPOS - GLOBAL POSITION ESTIMATE --- */ @@ -416,7 +424,6 @@ struct log_ENCD_s { float vel1; }; - /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -444,7 +451,8 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT_S(ATT, ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT_S(ATT2, ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT_S(IMU, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT_S(IMU1, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), @@ -453,7 +461,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"), - LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), |