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vehicle_local_position topic updated, position_estimator_inav and commander fixes, only altitude estimate required for SETBELT now.

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This commit is contained in:
Anton Babushkin
2013-08-18 23:05:26 +02:00
parent 2be5240b9f
commit ffc2a8b7a3
10 changed files with 194 additions and 212 deletions
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src/modules/sdlog2/sdlog2.c
+3 -4
View File
@@ -1042,10 +1042,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.vx = buf.local_pos.vx;
log_msg.body.log_LPOS.vy = buf.local_pos.vy;
log_msg.body.log_LPOS.vz = buf.local_pos.vz;
log_msg.body.log_LPOS.hdg = buf.local_pos.hdg;
log_msg.body.log_LPOS.home_lat = buf.local_pos.home_lat;
log_msg.body.log_LPOS.home_lon = buf.local_pos.home_lon;
log_msg.body.log_LPOS.home_alt = buf.local_pos.home_alt;
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
src/modules/sdlog2/sdlog2_messages.h
+4 -5
View File
@@ -106,10 +106,9 @@ struct log_LPOS_s {
float vx;
float vy;
float vz;
float hdg;
int32_t home_lat;
int32_t home_lon;
float home_alt;
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -260,7 +259,7 @@ static const struct log_format_s log_formats[] = {
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"),
LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt"),
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"),