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log multirotor attitude controller status

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Roman Bapst
2015-04-18 11:26:19 +02:00
committed by Lorenz Meier
parent b52d0ed8a2
commit e097affd7a
5 changed files with 24 additions and 3 deletions
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src/modules/sdlog2/sdlog2_messages.h
+8
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@@ -453,6 +453,13 @@ struct log_VTOL_s {
#define LOG_TSYN_MSG 43
struct log_TSYN_s {
uint64_t time_offset;
/* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */
#define LOG_MACS_MSG 42
struct log_MACS_s {
float roll_rate_integ;
float pitch_rate_integ;
float yaw_rate_integ;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
@@ -524,6 +531,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
LOG_FORMAT(TSYN, "Q", "TimeOffset"),
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */