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Merge branch 'rc_timeout' into mpc_rc

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This commit is contained in:
Anton Babushkin
2014-04-13 11:06:49 +04:00
parent dfd9601b57 0b97dd2b77
commit 88149311ea
31 changed files with 858 additions and 696 deletions
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src/modules/sdlog2/sdlog2_messages.h
+32 -24
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@@ -161,6 +161,7 @@ struct log_STAT_s {
struct log_RC_s {
float channel[8];
uint8_t channel_count;
uint8_t signal_lost;
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
@@ -174,6 +175,7 @@ struct log_OUT0_s {
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
float air_temperature_celsius;
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
@@ -277,6 +279,29 @@ struct log_TELE_s {
uint8_t txbuf;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 23
struct log_ESTM_s {
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
struct log_PWR_s {
float peripherals_5v;
float servo_rail_5v;
float servo_rssi;
uint8_t usb_ok;
uint8_t brick_ok;
uint8_t servo_ok;
uint8_t low_power_rail_overcurrent;
uint8_t high_power_rail_overcurrent;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -299,23 +324,6 @@ struct log_PARM_s {
float value;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 132
struct log_ESTM_s {
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
// struct log_ESTM_s {
// float s[32];
// uint8_t n_states;
// uint8_t states_nan;
// uint8_t covariance_nan;
// uint8_t kalman_gain_nan;
// };
#pragma pack(pop)
/* construct list of all message formats */
@@ -330,9 +338,9 @@ 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, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"),
LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
@@ -342,16 +350,16 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless
/* FMT: don't write format of format message, it's useless */
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
//LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
LOG_FORMAT(PARM, "Nf", "Name,Value")
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
#endif /* SDLOG2_MESSAGES_H_ */