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DataFlash: added defines for raw accel and gyro logging

This commit is contained in:
Andrew Tridgell 2015-05-07 12:08:04 +10:00
parent f5140e25b0
commit 21d805422d
1 changed files with 33 additions and 1 deletions
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34
libraries/DataFlash/DataFlash.h
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@ -517,6 +517,20 @@ struct PACKED log_AIRSPEED {
float offset;
};
struct PACKED log_ACCEL {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint32_t timestamp_us;
float AccX, AccY, AccZ;
};
struct PACKED log_GYRO {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint32_t timestamp_us;
float GyrX, GyrY, GyrZ;
};
/*
Format characters in the format string for binary log messages
b : int8_t
@ -627,7 +641,19 @@ Format characters in the format string for binary log messages
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2","IhhhhhhhhhB", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3","IhhhhhhhhhB", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" } \
"MAG3","IhhhhhhhhhB", "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
"ACC1", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" }, \
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
"ACC2", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" }, \
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
"ACC3", "IIfff", "TimeMS,TimeUS,AccX,AccY,AccZ" }, \
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
"GYR1", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" }, \
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
"GYR2", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" }, \
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
"GYR3", "IIfff", "TimeMS,TimeUS,GyrX,GyrY,GyrZ" }
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
@ -682,6 +708,12 @@ Format characters in the format string for binary log messages
#define LOG_COMPASS3_MSG 169
#define LOG_MODE_MSG 170
#define LOG_GPS_RAW_MSG 171
#define LOG_ACC1_MSG 172
#define LOG_ACC2_MSG 173
#define LOG_ACC3_MSG 174
#define LOG_GYR1_MSG 175
#define LOG_GYR2_MSG 176
#define LOG_GYR3_MSG 177
// message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use