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87 lines
3.1 KiB
C
87 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file vehicle_control_debug.h
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* For debugging purposes to log PID parts of controller
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*/
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#ifndef TOPIC_VEHICLE_CONTROL_DEBUG_H_
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#define TOPIC_VEHICLE_CONTROL_DEBUG_H_
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#include <stdint.h>
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#include "../uORB.h"
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/**
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* @addtogroup topics
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* @{
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*/
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struct vehicle_control_debug_s {
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uint64_t timestamp; /**< in microseconds since system start */
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float roll_p; /**< roll P control part */
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float roll_i; /**< roll I control part */
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float roll_d; /**< roll D control part */
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float roll_rate_p; /**< roll rate P control part */
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float roll_rate_i; /**< roll rate I control part */
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float roll_rate_d; /**< roll rate D control part */
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float pitch_p; /**< pitch P control part */
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float pitch_i; /**< pitch I control part */
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float pitch_d; /**< pitch D control part */
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float pitch_rate_p; /**< pitch rate P control part */
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float pitch_rate_i; /**< pitch rate I control part */
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float pitch_rate_d; /**< pitch rate D control part */
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float yaw_p; /**< yaw P control part */
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float yaw_i; /**< yaw I control part */
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float yaw_d; /**< yaw D control part */
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float yaw_rate_p; /**< yaw rate P control part */
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float yaw_rate_i; /**< yaw rate I control part */
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float yaw_rate_d; /**< yaw rate D control part */
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}; /**< vehicle_control_debug */
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/**
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* @}
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*/
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/* register this as object request broker structure */
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ORB_DECLARE(vehicle_control_debug);
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#endif
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