mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.2 KiB
C
48 lines
1.2 KiB
C
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#pragma once
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#include "AP_Servo_Telem_config.h"
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_SERVO_TELEM \
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LOG_CSRV_MSG
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// @LoggerMessage: CSRV
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// @Description: Servo feedback data
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// @Field: TimeUS: Time since system startup
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// @Field: Id: Servo number this data relates to
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// @Field: Pos: Current servo position
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// @Field: Force: Force being applied
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// @Field: Speed: Current servo movement speed
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// @Field: Pow: Amount of rated power being applied
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// @Field: PosCmd: commanded servo position
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// @Field: V: Voltage
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// @Field: A: Current
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// @Field: MotT: motor temperature
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// @Field: PCBT: PCB temperature
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// @Field: Err: error flags
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struct PACKED log_CSRV {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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float position;
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float force;
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float speed;
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uint8_t power_pct;
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float pos_cmd;
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float voltage;
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float current;
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float mot_temp;
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float pcb_temp;
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uint8_t error;
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};
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#if !AP_SERVO_TELEM_ENABLED
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#define LOG_STRUCTURE_FROM_SERVO_TELEM
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#else
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#define LOG_STRUCTURE_FROM_SERVO_TELEM \
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{ LOG_CSRV_MSG, sizeof(log_CSRV), \
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"CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#dtk%dvAOO-", "F-000000000-", true },
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#endif
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