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/****************************************************************************
*
* 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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