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Merge remote-tracking branch 'drton/pid_fixes_drton_debug' into new_state_machine

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Conflicts:
	src/modules/multirotor_att_control/multirotor_att_control_main.c
	src/modules/multirotor_att_control/multirotor_attitude_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/multirotor_att_control/multirotor_rate_control.h
	src/modules/sdlog2/sdlog2.c
This commit is contained in:
Julian Oes
2013-06-20 12:52:16 +02:00
parent 9b6c9358ed bf0de77532
commit a183f3e273
8 changed files with 30 additions and 22 deletions
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src/modules/sdlog2/sdlog2.c
+3
View File
@@ -1013,6 +1013,9 @@ 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 --- */
@@ -209,7 +212,7 @@ 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"),