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attitude_estimator_ekf: acc comp bug fixed, estimated gravity vector logging

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Anton Babushkin
2014-01-20 23:44:04 +01:00
parent 7956c8b08e
commit 2e472cf918
5 changed files with 37 additions and 22 deletions
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src/modules/sdlog2/sdlog2.c
+3
View File
@@ -1161,6 +1161,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
src/modules/sdlog2/sdlog2_messages.h
+4 -1
View File
@@ -57,6 +57,9 @@ struct log_ATT_s {
float roll_rate;
float pitch_rate;
float yaw_rate;
float gx;
float gy;
float gz;
};
/* --- ATSP - ATTITUDE SET POINT --- */
@@ -289,7 +292,7 @@ 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, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),