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removed secondary attitude and log quaternion

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Roman Bapst
2015-01-20 13:01:41 +01:00
committed by Lorenz Meier
parent 70c7764b9f
commit 59cb0cc3b4
3 changed files with 9 additions and 52 deletions
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src/modules/sdlog2/sdlog2.c
+4 -12
View File
@@ -1437,6 +1437,10 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ATTITUDE --- */
if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.q_w = buf.att.q[0];
log_msg.body.log_ATT.q_x = buf.att.q[1];
log_msg.body.log_ATT.q_y = buf.att.q[2];
log_msg.body.log_ATT.q_z = buf.att.q[3];
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
log_msg.body.log_ATT.yaw = buf.att.yaw;
@@ -1447,18 +1451,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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);
// secondary attitude
log_msg.msg_type = LOG_ATT2_MSG;
log_msg.body.log_ATT.roll = buf.att.roll_sec;
log_msg.body.log_ATT.pitch = buf.att.pitch_sec;
log_msg.body.log_ATT.yaw = buf.att.yaw_sec;
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed_sec;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed_sec;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed_sec;
log_msg.body.log_ATT.gx = buf.att.g_comp_sec[0];
log_msg.body.log_ATT.gy = buf.att.g_comp_sec[1];
log_msg.body.log_ATT.gz = buf.att.g_comp_sec[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
/* --- ATTITUDE SETPOINT --- */
src/modules/sdlog2/sdlog2_messages.h
+5 -2
View File
@@ -50,8 +50,11 @@
#pragma pack(push, 1)
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
#define LOG_ATT2_MSG 41
struct log_ATT_s {
float q_w;
float q_x;
float q_y;
float q_z;
float roll;
float pitch;
float yaw;
@@ -460,7 +463,7 @@ struct log_PARM_s {
static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
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(ATT, "fffffffffffff", "qw,qx,qy,qz,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"),