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Merge branch 'sdlog2_GPSP' into seatbelt_multirotor

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This commit is contained in:
Anton Babushkin
2013-07-12 10:11:08 +04:00
parent c51c211bba 1d986d6c04
commit babbcea3b6
4 changed files with 63 additions and 16 deletions
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src/modules/sdlog2/sdlog2_messages.h
+26 -8
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@@ -149,15 +149,15 @@ struct log_ATTC_s {
/* --- STAT - VEHICLE STATE --- */
#define LOG_STAT_MSG 10
struct log_STAT_s {
unsigned char state;
unsigned char flight_mode;
unsigned char manual_control_mode;
unsigned char manual_sas_mode;
unsigned char armed;
uint8_t state;
uint8_t flight_mode;
uint8_t manual_control_mode;
uint8_t manual_sas_mode;
uint8_t armed;
float battery_voltage;
float battery_current;
float battery_remaining;
unsigned char battery_warning;
uint8_t battery_warning;
};
/* --- RC - RC INPUT CHANNELS --- */
@@ -210,13 +210,29 @@ struct log_GPOS_s {
float vel_d;
};
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t altitude_is_relative;
int32_t lat;
int32_t lon;
float altitude;
float yaw;
float loiter_radius;
int8_t loiter_direction;
uint8_t nav_cmd;
float param1;
float param2;
float param3;
float param4;
};
/* --- ESC - ESC STATE --- */
#define LOG_ESC_MSG 64
#define LOG_ESC_MSG 18
struct log_ESC_s {
uint16_t counter;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint16_t esc_address;
uint16_t esc_version;
@@ -227,6 +243,7 @@ struct log_ESC_s {
float esc_setpoint;
uint16_t esc_setpoint_raw;
};
#pragma pack(pop)
/* construct list of all message formats */
@@ -248,6 +265,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
};