fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

renamed FWC to ATC1

Browse Source
This commit is contained in:
tumbili 2014-12-03 09:46:52 +01:00
parent 0e33e52d4a
commit f7ca1d36d2
2 changed files with 11 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/sdlog2/sdlog2.c
View File

@ -982,7 +982,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_LPSP_s log_LPSP;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_FWC_s log_FWC;
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
@ -1429,13 +1428,14 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
if(copy_if_updated(ORB_ID(actuator_controls_1),subs.act_controls_1_sub,&buf.act_controls1)) {
log_msg.msg_type = LOG_FWC_MSG;
log_msg.body.log_FWC.roll = buf.act_controls1.control[0];
log_msg.body.log_FWC.pitch = buf.act_controls1.control[1];
log_msg.body.log_FWC.yaw = buf.act_controls1.control[2];
log_msg.body.log_FWC.thrust = buf.act_controls1.control[3];
LOGBUFFER_WRITE_AND_COUNT(FWC);
/* --- ACTUATOR CONTROL FW VTOL --- */
if(copy_if_updated(ORB_ID(actuator_controls_1),subs.act_controls_1_sub,&buf.act_controls)) {
log_msg.msg_type = LOG_ATC1_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- LOCAL POSITION --- */

14
src/modules/sdlog2/sdlog2_messages.h
View File

@ -150,6 +150,7 @@ struct log_GPS_s {
/* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
#define LOG_ATTC_MSG 9
#define LOG_ATC1_MSG 40
struct log_ATTC_s {
float roll;
float pitch;
@ -423,15 +424,6 @@ struct log_ENCD_s {
float vel1;
};
/* ATTITUDE CONTROLS (ACTUATOR_1 CONTROLS) */
#define LOG_FWC_MSG 40
struct log_FWC_s {
float roll;
float pitch;
float yaw;
float thrust;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@ -469,8 +461,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(FWC,"ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),