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px4-firmware
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log quaternion setpoint

This commit is contained in:
tumbili 2015-04-02 17:42:14 +02:00 committed by Lorenz Meier
parent a4bece7595
commit a530f16518
2 changed files with 9 additions and 1 deletions
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4
src/modules/sdlog2/sdlog2.c
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@ -1495,6 +1495,10 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
log_msg.body.log_ATSP.q_w = buf.att_sp.q_d[0];
log_msg.body.log_ATSP.q_x = buf.att_sp.q_d[1];
log_msg.body.log_ATSP.q_y = buf.att_sp.q_d[2];
log_msg.body.log_ATSP.q_z = buf.att_sp.q_d[3];
LOGBUFFER_WRITE_AND_COUNT(ATSP);
}

6
src/modules/sdlog2/sdlog2_messages.h
View File

@ -73,6 +73,10 @@ struct log_ATSP_s {
float pitch_sp;
float yaw_sp;
float thrust_sp;
float q_w;
float q_x;
float q_y;
float q_z;
};
/* --- IMU - IMU SENSORS --- */
@ -473,7 +477,7 @@ struct log_PARM_s {
static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
LOG_FORMAT(ATT, "fffffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(ATSP, "ffffffff", "RollSP,PitchSP,YawSP,ThrustSP,qw,qx,qy,qz"),
LOG_FORMAT_S(IMU, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU1, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU2, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),