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log secondary attitude and fixed wing controls for VTOL

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This commit is contained in:
Roman Bapst
2014-12-02 10:33:43 +01:00
parent 35c985e523
commit ad204bbb5d
2 changed files with 37 additions and 1 deletions
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src/modules/sdlog2/sdlog2_messages.h
+12 -1
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@@ -50,6 +50,7 @@
#pragma pack(push, 1)
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
#define LOG_ATT2_MSG 41
struct log_ATT_s {
float roll;
float pitch;
@@ -422,6 +423,14 @@ struct log_ENCD_s {
float vel1;
};
/* ATTITUDE CONTROLS (ACTUATOR_1 CONTROLS) */
#define LOG_FWC_MSG 40
struct log_FWC_s {
float roll;
float pitch;
float yaw;
float thrust;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
@@ -450,7 +459,8 @@ struct log_PARM_s {
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
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(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"),
@@ -460,6 +470,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(FWC,"ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
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"),