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sdlog2: add angular accelerations to ATT message

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Anton Babushkin
2013-06-20 11:32:25 +04:00
parent 3bfc4ed517
commit 462a9c8454
2 changed files with 7 additions and 1 deletions
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src/modules/sdlog2/sdlog2.c
+3
View File
@@ -986,6 +986,9 @@ 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.roll_acc = buf.att.rollacc;
log_msg.body.log_ATT.pitch_acc = buf.att.pitchacc;
log_msg.body.log_ATT.yaw_acc = buf.att.yawacc;
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
src/modules/sdlog2/sdlog2_messages.h
+4 -1
View File
@@ -63,6 +63,9 @@ struct log_ATT_s {
float roll_rate;
float pitch_rate;
float yaw_rate;
float roll_acc;
float pitch_acc;
float yaw_acc;
};
/* --- ATSP - ATTITUDE SET POINT --- */
@@ -206,7 +209,7 @@ struct log_ARSP_s {
static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"),
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"),