mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
Merged master
This commit is contained in:
Lorenz Meier
commit
c8f4f84c2b
94
ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
Normal file
94
ROMFS/px4fmu_common/init.d/rc.PX4IOAR_PX4FLOW_example
Normal file
@ -0,0 +1,94 @@
|
||||
#!nsh
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||||
#
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||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
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||||
set USB no
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||||
|
||||
# Disable autostarting other apps
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||||
set MODE ardrone
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||||
|
||||
echo "[init] doing PX4IOAR startup..."
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||||
|
||||
#
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||||
# Start the ORB
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||||
#
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||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
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||||
echo "[init] loading microSD params"
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||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
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||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
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||||
# see https://pixhawk.ethz.ch/mavlink/
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||||
#
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||||
param set MAV_TYPE 2
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||||
|
||||
#
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||||
# Configure PX4FMU for operation with PX4IOAR
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||||
#
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||||
fmu mode_gpio_serial
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||||
|
||||
#
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||||
# Start the sensors.
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||||
#
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||||
sh /etc/init.d/rc.sensors
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||||
|
||||
#
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||||
# Start MAVLink and MAVLink Onboard (Flow Sensor)
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
mavlink_onboard start -d /dev/ttyS3 -b 115200
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usleep 5000
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||||
|
||||
#
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||||
# Start the commander.
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||||
#
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||||
commander start
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||||
|
||||
#
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||||
# Start the attitude estimator
|
||||
#
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||||
attitude_estimator_ekf start
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||||
|
||||
#
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||||
# Start the position estimator
|
||||
#
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||||
flow_position_estimator start
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||||
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||||
#
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||||
# Fire up the multi rotor attitude controller
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||||
#
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||||
multirotor_att_control start
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||||
|
||||
#
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||||
# Fire up the flow position controller
|
||||
#
|
||||
flow_position_control start
|
||||
|
||||
#
|
||||
# Fire up the flow speed controller
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||||
#
|
||||
flow_speed_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
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||||
|
||||
exit
|
||||
@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
|
||||
} else {
|
||||
// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
|
||||
n = lb->size - lb->read_ptr;
|
||||
*is_part = true;
|
||||
*is_part = lb->write_ptr > 0;
|
||||
}
|
||||
|
||||
*ptr = &(lb->data[lb->read_ptr]);
|
||||
|
||||
@ -64,6 +64,7 @@
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_controls_effective.h>
|
||||
@ -102,7 +103,7 @@
|
||||
|
||||
//#define SDLOG2_DEBUG
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool main_thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
|
||||
@ -113,35 +114,34 @@ static const int MAX_WRITE_CHUNK = 512;
|
||||
static const int MIN_BYTES_TO_WRITE = 512;
|
||||
|
||||
static const char *mountpoint = "/fs/microsd";
|
||||
int log_file = -1;
|
||||
int mavlink_fd = -1;
|
||||
static int mavlink_fd = -1;
|
||||
struct logbuffer_s lb;
|
||||
|
||||
/* mutex / condition to synchronize threads */
|
||||
pthread_mutex_t logbuffer_mutex;
|
||||
pthread_cond_t logbuffer_cond;
|
||||
static pthread_mutex_t logbuffer_mutex;
|
||||
static pthread_cond_t logbuffer_cond;
|
||||
|
||||
char folder_path[64];
|
||||
static char folder_path[64];
|
||||
|
||||
/* statistics counters */
|
||||
unsigned long log_bytes_written = 0;
|
||||
uint64_t start_time = 0;
|
||||
unsigned long log_msgs_written = 0;
|
||||
unsigned long log_msgs_skipped = 0;
|
||||
static unsigned long log_bytes_written = 0;
|
||||
static uint64_t start_time = 0;
|
||||
static unsigned long log_msgs_written = 0;
|
||||
static unsigned long log_msgs_skipped = 0;
|
||||
|
||||
/* current state of logging */
|
||||
bool logging_enabled = false;
|
||||
static bool logging_enabled = false;
|
||||
/* enable logging on start (-e option) */
|
||||
bool log_on_start = false;
|
||||
static bool log_on_start = false;
|
||||
/* enable logging when armed (-a option) */
|
||||
bool log_when_armed = false;
|
||||
static bool log_when_armed = false;
|
||||
/* delay = 1 / rate (rate defined by -r option) */
|
||||
useconds_t sleep_delay = 0;
|
||||
static useconds_t sleep_delay = 0;
|
||||
|
||||
/* helper flag to track system state changes */
|
||||
bool flag_system_armed = false;
|
||||
static bool flag_system_armed = false;
|
||||
|
||||
pthread_t logwriter_pthread = 0;
|
||||
static pthread_t logwriter_pthread = 0;
|
||||
|
||||
/**
|
||||
* Log buffer writing thread. Open and close file here.
|
||||
@ -171,17 +171,17 @@ static void sdlog2_status(void);
|
||||
/**
|
||||
* Start logging: create new file and start log writer thread.
|
||||
*/
|
||||
void sdlog2_start_log();
|
||||
static void sdlog2_start_log(void);
|
||||
|
||||
/**
|
||||
* Stop logging: stop log writer thread and close log file.
|
||||
*/
|
||||
void sdlog2_stop_log();
|
||||
static void sdlog2_stop_log(void);
|
||||
|
||||
/**
|
||||
* Write a header to log file: list of message formats.
|
||||
*/
|
||||
void write_formats(int fd);
|
||||
static void write_formats(int fd);
|
||||
|
||||
|
||||
static bool file_exist(const char *filename);
|
||||
@ -195,12 +195,12 @@ static void handle_status(struct vehicle_status_s *cmd);
|
||||
/**
|
||||
* Create folder for current logging session. Store folder name in 'log_folder'.
|
||||
*/
|
||||
static int create_logfolder();
|
||||
static int create_logfolder(void);
|
||||
|
||||
/**
|
||||
* Select first free log file name and open it.
|
||||
*/
|
||||
static int open_logfile();
|
||||
static int open_logfile(void);
|
||||
|
||||
static void
|
||||
sdlog2_usage(const char *reason)
|
||||
@ -236,7 +236,7 @@ int sdlog2_main(int argc, char *argv[])
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
main_thread_should_exit = false;
|
||||
deamon_task = task_spawn_cmd("sdlog2",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT - 30,
|
||||
@ -251,7 +251,7 @@ int sdlog2_main(int argc, char *argv[])
|
||||
printf("\tsdlog2 is not started\n");
|
||||
}
|
||||
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
@ -285,22 +285,6 @@ int create_logfolder()
|
||||
|
||||
if (mkdir_ret == 0) {
|
||||
/* folder does not exist, success */
|
||||
|
||||
/* copy parser script file */
|
||||
// TODO
|
||||
/*
|
||||
char mfile_out[100];
|
||||
sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
|
||||
int ret = file_copy(mfile_in, mfile_out);
|
||||
|
||||
if (!ret) {
|
||||
warnx("copied m file to %s", mfile_out);
|
||||
|
||||
} else {
|
||||
warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
|
||||
}
|
||||
*/
|
||||
|
||||
break;
|
||||
|
||||
} else if (mkdir_ret == -1) {
|
||||
@ -346,10 +330,10 @@ int open_logfile()
|
||||
fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
|
||||
|
||||
if (fd == 0) {
|
||||
errx(1, "opening %s failed.", path_buf);
|
||||
warn("opening %s failed", path_buf);
|
||||
}
|
||||
|
||||
warnx("logging to: %s", path_buf);
|
||||
warnx("logging to: %s.", path_buf);
|
||||
mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
|
||||
|
||||
return fd;
|
||||
@ -357,7 +341,7 @@ int open_logfile()
|
||||
|
||||
if (file_number > MAX_NO_LOGFILE) {
|
||||
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
|
||||
warn("all %d possible files exist already", MAX_NO_LOGFILE);
|
||||
warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
|
||||
return -1;
|
||||
}
|
||||
|
||||
@ -383,8 +367,7 @@ static void *logwriter_thread(void *arg)
|
||||
bool should_wait = false;
|
||||
bool is_part = false;
|
||||
|
||||
while (!thread_should_exit && !logwriter_should_exit) {
|
||||
|
||||
while (true) {
|
||||
/* make sure threads are synchronized */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
|
||||
@ -394,7 +377,7 @@ static void *logwriter_thread(void *arg)
|
||||
}
|
||||
|
||||
/* only wait if no data is available to process */
|
||||
if (should_wait) {
|
||||
if (should_wait && !logwriter_should_exit) {
|
||||
/* blocking wait for new data at this line */
|
||||
pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
|
||||
}
|
||||
@ -402,6 +385,11 @@ static void *logwriter_thread(void *arg)
|
||||
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
|
||||
int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
int rp = logbuf->read_ptr;
|
||||
int wp = logbuf->write_ptr;
|
||||
#endif
|
||||
|
||||
/* continue */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
@ -418,11 +406,11 @@ static void *logwriter_thread(void *arg)
|
||||
|
||||
should_wait = (n == available) && !is_part;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
|
||||
printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
|
||||
#endif
|
||||
|
||||
if (n < 0) {
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
err(1, "error writing log file");
|
||||
}
|
||||
|
||||
@ -431,19 +419,33 @@ static void *logwriter_thread(void *arg)
|
||||
}
|
||||
|
||||
} else {
|
||||
n = 0;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
|
||||
#endif
|
||||
/* exit only with empty buffer */
|
||||
if (main_thread_should_exit || logwriter_should_exit) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("break logwriter thread\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
should_wait = true;
|
||||
}
|
||||
|
||||
if (poll_count % 10 == 0) {
|
||||
if (++poll_count == 10) {
|
||||
fsync(log_file);
|
||||
poll_count = 0;
|
||||
}
|
||||
|
||||
poll_count++;
|
||||
}
|
||||
|
||||
fsync(log_file);
|
||||
close(log_file);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("logwriter thread exit\n");
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@ -470,10 +472,9 @@ void sdlog2_start_log()
|
||||
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
||||
|
||||
logwriter_should_exit = false;
|
||||
pthread_t thread;
|
||||
|
||||
/* start log buffer emptying thread */
|
||||
if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) {
|
||||
if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
|
||||
errx(1, "error creating logwriter thread");
|
||||
}
|
||||
|
||||
@ -487,16 +488,20 @@ void sdlog2_stop_log()
|
||||
mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
|
||||
|
||||
logging_enabled = false;
|
||||
logwriter_should_exit = true;
|
||||
|
||||
/* wake up write thread one last time */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
logwriter_should_exit = true;
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
/* unlock, now the writer thread may return */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
/* wait for write thread to return */
|
||||
(void)pthread_join(logwriter_pthread, NULL);
|
||||
int ret;
|
||||
if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
|
||||
warnx("error joining logwriter thread: %i", ret);
|
||||
}
|
||||
logwriter_pthread = 0;
|
||||
|
||||
sdlog2_status();
|
||||
}
|
||||
@ -517,7 +522,7 @@ void write_formats(int fd)
|
||||
|
||||
for (i = 0; i < log_formats_num; i++) {
|
||||
log_format_packet.body = log_formats[i];
|
||||
write(fd, &log_format_packet, sizeof(log_format_packet));
|
||||
log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
@ -607,12 +612,9 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
errx(1, "can't allocate log buffer, exiting.");
|
||||
}
|
||||
|
||||
/* file descriptors to wait for */
|
||||
struct pollfd fds_control[2];
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
/* number of messages */
|
||||
const ssize_t fdsc = 16;
|
||||
const ssize_t fdsc = 17;
|
||||
/* Sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
|
||||
/* file descriptors to wait for */
|
||||
@ -627,6 +629,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct sensor_combined_s sensor;
|
||||
struct vehicle_attitude_s att;
|
||||
struct vehicle_attitude_setpoint_s att_sp;
|
||||
struct vehicle_rates_setpoint_s rates_sp;
|
||||
struct actuator_outputs_s act_outputs;
|
||||
struct actuator_controls_s act_controls;
|
||||
struct actuator_controls_effective_s act_controls_effective;
|
||||
@ -648,6 +651,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
int sensor_sub;
|
||||
int att_sub;
|
||||
int att_sp_sub;
|
||||
int rates_sp_sub;
|
||||
int act_outputs_sub;
|
||||
int act_controls_sub;
|
||||
int act_controls_effective_sub;
|
||||
@ -679,6 +683,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct log_RC_s log_RC;
|
||||
struct log_OUT0_s log_OUT0;
|
||||
struct log_AIRS_s log_AIRS;
|
||||
struct log_ARSP_s log_ARSP;
|
||||
} body;
|
||||
} log_msg = {
|
||||
LOG_PACKET_HEADER_INIT(0)
|
||||
@ -722,6 +727,12 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- RATES SETPOINT --- */
|
||||
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
|
||||
fds[fdsc_count].fd = subs.rates_sp_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ACTUATOR OUTPUTS --- */
|
||||
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
|
||||
fds[fdsc_count].fd = subs.act_outputs_sub;
|
||||
@ -814,7 +825,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
if (log_on_start)
|
||||
sdlog2_start_log();
|
||||
|
||||
while (!thread_should_exit) {
|
||||
while (!main_thread_should_exit) {
|
||||
/* decide use usleep() or blocking poll() */
|
||||
bool use_sleep = sleep_delay > 0 && logging_enabled;
|
||||
|
||||
@ -824,7 +835,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
/* handle the poll result */
|
||||
if (poll_ret < 0) {
|
||||
warnx("ERROR: poll error, stop logging.");
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
|
||||
} else if (poll_ret > 0) {
|
||||
|
||||
@ -891,7 +902,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
|
||||
log_msg.body.log_GPS.lat = buf.gps_pos.lat;
|
||||
log_msg.body.log_GPS.lon = buf.gps_pos.lon;
|
||||
log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001;
|
||||
log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
|
||||
log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
|
||||
log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
|
||||
log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
|
||||
@ -961,6 +972,9 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_ATT.roll = buf.att.roll;
|
||||
log_msg.body.log_ATT.pitch = buf.att.pitch;
|
||||
log_msg.body.log_ATT.yaw = buf.att.yaw;
|
||||
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;
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATT);
|
||||
}
|
||||
|
||||
@ -971,9 +985,20 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
|
||||
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
|
||||
log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
|
||||
log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATSP);
|
||||
}
|
||||
|
||||
/* --- RATES SETPOINT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
|
||||
log_msg.msg_type = LOG_ARSP_MSG;
|
||||
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
|
||||
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
|
||||
log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
|
||||
LOGBUFFER_WRITE_AND_COUNT(ARSP);
|
||||
}
|
||||
|
||||
/* --- ACTUATOR OUTPUTS --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
|
||||
@ -1063,10 +1088,13 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
LOGBUFFER_WRITE_AND_COUNT(AIRS);
|
||||
}
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("signal %i", logbuffer_count(&lb));
|
||||
printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* only request write if several packets can be written at once */
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
|
||||
@ -60,6 +60,9 @@ struct log_ATT_s {
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
float roll_rate;
|
||||
float pitch_rate;
|
||||
float yaw_rate;
|
||||
};
|
||||
|
||||
/* --- ATSP - ATTITUDE SET POINT --- */
|
||||
@ -68,6 +71,7 @@ struct log_ATSP_s {
|
||||
float roll_sp;
|
||||
float pitch_sp;
|
||||
float yaw_sp;
|
||||
float thrust_sp;
|
||||
};
|
||||
|
||||
/* --- IMU - IMU SENSORS --- */
|
||||
@ -174,14 +178,22 @@ struct log_AIRS_s {
|
||||
float indicated_airspeed;
|
||||
float true_airspeed;
|
||||
};
|
||||
|
||||
/* --- ARSP - ATTITUDE RATE SET POINT --- */
|
||||
#define LOG_ARSP_MSG 14
|
||||
struct log_ARSP_s {
|
||||
float roll_rate_sp;
|
||||
float pitch_rate_sp;
|
||||
float yaw_rate_sp;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/* construct list of all message formats */
|
||||
|
||||
static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(TIME, "Q", "StartTime"),
|
||||
LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
|
||||
LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
|
||||
LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
|
||||
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"),
|
||||
LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
|
||||
@ -192,6 +204,7 @@ static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
|
||||
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
|
||||
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
|
||||
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
|
||||
};
|
||||
|
||||
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user