aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

DataFlash: add GMB1, GMB2, GMB3

Browse Source
This commit is contained in:
Jonathan Challinger 2016-01-04 14:49:11 -08:00 committed by Randy Mackay
parent cbf2309023
commit 02d8b28fa3
1 changed files with 49 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
libraries/DataFlash/LogStructure.h
View File

@ -99,6 +99,44 @@ struct PACKED log_Vibe {
uint32_t clipping_0, clipping_1, clipping_2;
};
struct PACKED log_Gimbal1 {
LOG_PACKET_HEADER;
uint32_t time_ms;
float delta_time;
float delta_angles_x;
float delta_angles_y;
float delta_angles_z;
float delta_velocity_x;
float delta_velocity_y;
float delta_velocity_z;
float joint_angles_x;
float joint_angles_y;
float joint_angles_z;
};
struct PACKED log_Gimbal2 {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t est_sta;
float est_x;
float est_y;
float est_z;
float rate_x;
float rate_y;
float rate_z;
float target_x;
float target_y;
float target_z;
};
struct PACKED log_Gimbal3 {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t rl_torque_cmd;
int16_t el_torque_cmd;
int16_t az_torque_cmd;
};
struct PACKED log_RCIN {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -814,7 +852,13 @@ Format characters in the format string for binary log messages
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
{ LOG_RPM_MSG, sizeof(log_RPM), \
"RPM", "Qff", "TimeUS,rpm1,rpm2" }
"RPM", "Qff", "TimeUS,rpm1,rpm2" }, \
{ LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz" }, \
{ LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz" }, \
{ LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd" }
// #if SBP_HW_LOGGING
#define LOG_SBP_STRUCTURES \
@ -923,6 +967,10 @@ enum LogMessages {
LOG_MSG_SBPRAW2,
LOG_MSG_SBPRAWx,
LOG_GIMBAL1_MSG,
LOG_GIMBAL2_MSG,
LOG_GIMBAL3_MSG,
// message types 211 to 220 reversed for autotune use
};