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Merge branch 'seatbelt_multirotor' into seatbelt_multirotor_new

Browse Source 
WIP, TODO fixedwing
This commit is contained in:
Anton Babushkin
2013-08-16 13:23:33 +02:00
parent 3f9f1d60e0 a013fc5d0b
commit f78666e0c8
31 changed files with 1931 additions and 807 deletions
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src/modules/sdlog2/sdlog2_messages.h
+20 -34
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@@ -63,9 +63,6 @@ struct log_ATT_s {
float roll_rate;
float pitch_rate;
float yaw_rate;
float roll_acc;
float pitch_acc;
float yaw_acc;
};
/* --- ATSP - ATTITUDE SET POINT --- */
@@ -152,55 +149,36 @@ struct log_ATTC_s {
/* --- STAT - VEHICLE STATE --- */
#define LOG_STAT_MSG 10
struct log_STAT_s {
uint8_t state;
uint8_t flight_mode;
uint8_t manual_control_mode;
uint8_t manual_sas_mode;
uint8_t armed;
uint8_t main_state;
uint8_t navigation_state;
uint8_t arming_state;
float battery_voltage;
float battery_current;
float battery_remaining;
uint8_t battery_warning;
};
/* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11
struct log_CTRL_s {
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_rate_p;
float pitch_rate_i;
float pitch_rate_d;
};
/* --- RC - RC INPUT CHANNELS --- */
#define LOG_RC_MSG 12
#define LOG_RC_MSG 11
struct log_RC_s {
float channel[8];
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
#define LOG_OUT0_MSG 13
#define LOG_OUT0_MSG 12
struct log_OUT0_s {
float output[8];
};
/* --- AIRS - AIRSPEED --- */
#define LOG_AIRS_MSG 14
#define LOG_AIRS_MSG 13
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
#define LOG_ARSP_MSG 15
#define LOG_ARSP_MSG 14
struct log_ARSP_s {
float roll_rate_sp;
float pitch_rate_sp;
@@ -208,7 +186,7 @@ struct log_ARSP_s {
};
/* --- FLOW - OPTICAL FLOW --- */
#define LOG_FLOW_MSG 16
#define LOG_FLOW_MSG 15
struct log_FLOW_s {
int16_t flow_raw_x;
int16_t flow_raw_y;
@@ -264,13 +242,21 @@ struct log_ESC_s {
uint16_t esc_setpoint_raw;
};
/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
#define LOG_GVSP_MSG 19
struct log_GVSP_s {
float vx;
float vy;
float vz;
};
#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, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"),
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"),
@@ -278,8 +264,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
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, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
LOG_FORMAT(STAT, "BBBfffB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn"),
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"),
@@ -287,7 +272,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);