mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.1 KiB
C
39 lines
1.1 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_MOUNT \
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LOG_MOUNT_MSG
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// @LoggerMessage: MNT
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// @Description: Mount's actual and Target/Desired RPY information
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// @Field: TimeUS: Time since system startup
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// @Field: I: Instance number
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// @Field: DesRoll: mount's desired roll
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// @Field: Roll: mount's actual roll
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// @Field: DesPitch: mount's desired pitch
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// @Field: Pitch: mount's actual pitch
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// @Field: DesYawB: mount's desired yaw in body frame
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// @Field: YawB: mount's actual yaw in body frame
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// @Field: DesYawE: mount's desired yaw in earth frame
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// @Field: YawE: mount's actual yaw in earth frame
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struct PACKED log_Mount {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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float desired_roll;
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float actual_roll;
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float desired_pitch;
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float actual_pitch;
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float desired_yaw_bf;
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float actual_yaw_bf;
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float desired_yaw_ef;
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float actual_yaw_ef;
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};
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#define LOG_STRUCTURE_FROM_MOUNT \
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{ LOG_MOUNT_MSG, sizeof(log_Mount), \
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"MNT", "QBffffffff","TimeUS,I,DesRoll,Roll,DesPitch,Pitch,DesYawB,YawB,DesYawE,YawE", "s#dddddddd", "F---------" },
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