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Merge branch 'master' into inav_alt_gps. Use GPS for altitude estimation.

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This commit is contained in:
Anton Babushkin
2013-10-27 22:03:07 +04:00
parent 7d4981d4b4 59c04adada
commit d309d0203c
73 changed files with 3361 additions and 874 deletions
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src/modules/sdlog2/sdlog2_messages.h
+29 -29
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@@ -48,12 +48,6 @@
/* define message formats */
#pragma pack(push, 1)
/* --- TIME - TIME STAMP --- */
#define LOG_TIME_MSG 1
struct log_TIME_s {
uint64_t t;
};
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
struct log_ATT_s {
@@ -253,38 +247,41 @@ struct log_GVSP_s {
float vz;
};
/* --- FWRV - FIRMWARE REVISION --- */
#define LOG_FWRV_MSG 20
struct log_FWRV_s {
char fw_revision[64];
};
/* --- DIST - DISTANCE TO SURFACE --- */
#define LOG_DIST_MSG 21
#define LOG_DIST_MSG 20
struct log_DIST_s {
float bottom;
float bottom_rate;
uint8_t flags;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
#define LOG_TIME_MSG 129
struct log_TIME_s {
uint64_t t;
};
/* --- VER - VERSION --- */
#define LOG_VER_MSG 130
struct log_VER_s {
char arch[16];
char fw_git[64];
};
/* --- PARM - PARAMETER --- */
#define LOG_PARM_MSG 131
struct log_PARM_s {
char name[16];
float value;
};
#pragma pack(pop)
/*
GIT_VERSION is defined at build time via a Makefile call to the
git command line. We create a fake log message format for
the firmware revision "FWRV" that is written to every log
header. This makes it easier to determine which version
of the firmware was running when a log was created.
*/
#define FREEZE_STR(s) #s
#define STRINGIFY(s) FREEZE_STR(s)
#define FW_VERSION_STR STRINGIFY(GIT_VERSION)
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"),
/* business-level messages, ID < 0x80 */
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"),
@@ -303,8 +300,11 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(FWRV, "Z", FW_VERSION_STR),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);