fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 10:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'pid_fixes' into new_state_machine

Browse Source 
Conflicts:
	src/modules/multirotor_att_control/multirotor_rate_control.c
	src/modules/sdlog2/sdlog2.c
	src/modules/sdlog2/sdlog2_messages.h

and some fixes, logging of control PID values now working
This commit is contained in:
Julian Oes
2013-06-16 17:14:22 +02:00
parent bd7f86bb6a 216617431d
commit bca60b98bd
7 changed files with 42 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2_messages.h
+7 -18
View File
@@ -159,29 +159,18 @@ struct log_STAT_s {
/* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11
struct log_CTRL_s {
// float roll_p;
// float roll_i;
// float roll_d;
float roll_p;
float roll_i;
float roll_d;
float roll_rate_p;
float roll_rate_i;
float roll_rate_d;
// float pitch_p;
// float pitch_i;
// float pitch_d;
float pitch_p;
float pitch_i;
float pitch_d;
float pitch_rate_p;
float pitch_rate_i;
float pitch_rate_d;
// float yaw_p;
// float yaw_i;
// float yaw_d;
float yaw_rate_p;
float yaw_rate_i;
float yaw_rate_d;
};
/* --- RC - RC INPUT CHANNELS --- */
@@ -210,7 +199,7 @@ 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, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
};