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Copter: remove yaw_in from ATT dataflash msg

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This commit is contained in:
Randy Mackay 2013-11-27 22:59:31 +09:00
parent f08cc010ea
commit d7c636b4aa
1 changed files with 10 additions and 12 deletions
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22
ArduCopter/Log.pde
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@ -430,13 +430,12 @@ static void Log_Write_Cmd(uint8_t num, const struct Location *wp)
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
int16_t roll_in;
int16_t control_roll;
int16_t roll;
int16_t pitch_in;
int16_t control_pitch;
int16_t pitch;
int16_t yaw_in;
uint16_t control_yaw;
uint16_t yaw;
uint16_t nav_yaw;
};
// Write an attitude packet
@ -444,13 +443,12 @@ static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
roll_in : (int16_t)control_roll,
roll : (int16_t)ahrs.roll_sensor,
pitch_in : (int16_t)control_pitch,
pitch : (int16_t)ahrs.pitch_sensor,
yaw_in : (int16_t)g.rc_4.control_in,
yaw : (uint16_t)ahrs.yaw_sensor,
nav_yaw : (uint16_t)control_yaw
control_roll : (int16_t)control_roll,
roll : (int16_t)ahrs.roll_sensor,
control_pitch : (int16_t)control_pitch,
pitch : (int16_t)ahrs.pitch_sensor,
control_yaw : (uint16_t)control_yaw,
yaw : (uint16_t)ahrs.yaw_sensor
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -730,7 +728,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "cccccCC", "RollIn,Roll,PitchIn,Pitch,YawIn,Yaw,NavYaw" },
"ATT", "ccccCC", "DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw" },
{ LOG_INAV_MSG, sizeof(log_INAV),
"INAV", "cccfffiiff", "BAlt,IAlt,IClb,ACorrX,ACorrY,ACorrZ,GLat,GLng,ILat,ILng" },
{ LOG_MODE_MSG, sizeof(log_Mode),