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Just include the rate controls for now

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Julian Oes
2013-06-16 15:32:53 +02:00
parent 2cb928d87c
commit 6f108e18d2
2 changed files with 1 additions and 19 deletions
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src/modules/sdlog2/sdlog2.c
-9
View File
@@ -1045,21 +1045,12 @@ int sdlog2_thread_main(int argc, char *argv[])
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p;
log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i;
log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d;
src/modules/sdlog2/sdlog2_messages.h
+1 -10
View File
@@ -159,21 +159,12 @@ struct log_STAT_s {
/* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11
struct log_CTRL_s {
float roll_p;
float roll_i;
float roll_d;
float roll_rate_p;
float roll_rate_i;
float roll_rate_d;
float pitch_p;
float pitch_i;
float pitch_d;
float pitch_rate_p;
float pitch_rate_i;
float pitch_rate_d;
float yaw_p;
float yaw_i;
float yaw_d;
float yaw_rate_p;
float yaw_rate_i;
float yaw_rate_d;
@@ -205,7 +196,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(CTRL, "ffffffffffffffffff", "RollP,RollI,RollD,RollRP,RollRI,RollRD,PitchP,PitchI,PitchD,PitchRP,PitchRI,PitchRD,YawP,YawI,YawD,YawRP,YawRI,YawRD"),
LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
};