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sdlog2: Add support for up to three IMU sensors

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Lorenz Meier
2014-07-15 23:19:45 +02:00
parent 64e33b8896
commit b8b6974e22
2 changed files with 73 additions and 3 deletions
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src/modules/sdlog2/sdlog2_messages.h
+7 -3
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@@ -73,6 +73,8 @@ struct log_ATSP_s {
/* --- IMU - IMU SENSORS --- */
#define LOG_IMU_MSG 4
#define LOG_IMU1_MSG 22
#define LOG_IMU2_MSG 23
struct log_IMU_s {
float acc_x;
float acc_y;
@@ -276,8 +278,8 @@ struct log_DIST_s {
uint8_t flags;
};
// ID 22 available
// ID 23 available
/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
@@ -420,7 +422,9 @@ 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(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
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"),
LOG_FORMAT_S(IMU2, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),