From b52d561b11298abb2982b786676f49eea96259d8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sun, 16 Jun 2013 12:59:50 +0200
Subject: Added ctrl debugging values

---
 src/modules/uORB/topics/vehicle_control_debug.h | 87 +++++++++++++++++++++++++
 1 file changed, 87 insertions(+)
 create mode 100644 src/modules/uORB/topics/vehicle_control_debug.h

(limited to 'src/modules/uORB/topics/vehicle_control_debug.h')

diff --git a/src/modules/uORB/topics/vehicle_control_debug.h b/src/modules/uORB/topics/vehicle_control_debug.h
new file mode 100644
index 000000000..6184284a4
--- /dev/null
+++ b/src/modules/uORB/topics/vehicle_control_debug.h
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_control_debug.h
+ * For debugging purposes to log PID parts of controller
+ */
+
+#ifndef TOPIC_VEHICLE_CONTROL_DEBUG_H_
+#define TOPIC_VEHICLE_CONTROL_DEBUG_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+struct vehicle_control_debug_s
+{
+	uint64_t timestamp; /**< in microseconds since system start */
+
+	float roll_p;		/**< roll P control part		*/
+	float roll_i;		/**< roll I control part 		*/
+	float roll_d;		/**< roll D control part 		*/
+
+	float roll_rate_p;	/**< roll rate P control part		*/
+	float roll_rate_i;	/**< roll rate I control part 		*/
+	float roll_rate_d;	/**< roll rate D control part 		*/
+
+	float pitch_p;		/**< pitch P control part		*/
+	float pitch_i;		/**< pitch I control part 		*/
+	float pitch_d;		/**< pitch D control part 		*/
+
+	float pitch_rate_p;	/**< pitch rate P control part		*/
+	float pitch_rate_i;	/**< pitch rate I control part 		*/
+	float pitch_rate_d;	/**< pitch rate D control part 		*/
+
+	float yaw_p;		/**< yaw P control part			*/
+	float yaw_i;		/**< yaw I control part 		*/
+	float yaw_d;		/**< yaw D control part 		*/
+
+	float yaw_rate_p;	/**< yaw rate P control part		*/
+	float yaw_rate_i;	/**< yaw rate I control part 		*/
+	float yaw_rate_d;	/**< yaw rate D control part 		*/
+
+}; /**< vehicle_control_debug */
+
+ /**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_control_debug);
+
+#endif
-- 
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