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Partially merge branch 'inav_alt_gps' into vector_control2, only estimator part

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Anton Babushkin
2013-12-23 11:13:08 +04:00
parent 4c6f6ed12c 98ebcb626d
commit f36ffe0859
6 changed files with 491 additions and 231 deletions
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src/modules/sdlog2/sdlog2_messages.h
+11
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@@ -247,6 +247,16 @@ struct log_GVSP_s {
float vz;
};
/* --- DIST - DISTANCE TO SURFACE --- */
#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 {
@@ -290,6 +300,7 @@ 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(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"),