Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 09:58:23 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

[messages] added ahrs_aligner.status to FILTER_ALIGNER message

Browse Source
This commit is contained in:
Felix Ruess
2012-05-29 18:28:44 +02:00
parent 27bb0d8244
commit 2b0b033451
2 changed files with 11 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/messages.xml
+1
View File
@@ -1048,6 +1048,7 @@
<field name="gr" type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
<field name="noise" type="int32"/>
<field name="cnt" type="int32"/>
<field name="status" type="uint8" values="UNINIT|RUNNING|LOCKED"/>
</message>
<!-- 138 is free -->
sw/airborne/firmwares/rotorcraft/telemetry.h
+10 -9
View File
@@ -304,15 +304,16 @@
#include "subsystems/ahrs/ahrs_aligner.h"
#define PERIODIC_SEND_FILTER_ALIGNER(_trans, _dev) { \
DOWNLINK_SEND_FILTER_ALIGNER(_trans, _dev, \
&ahrs_aligner.lp_gyro.p, \
&ahrs_aligner.lp_gyro.q, \
&ahrs_aligner.lp_gyro.r, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r, \
&ahrs_aligner.noise, \
&ahrs_aligner.low_noise_cnt); \
DOWNLINK_SEND_FILTER_ALIGNER(_trans, _dev, \
&ahrs_aligner.lp_gyro.p, \
&ahrs_aligner.lp_gyro.q, \
&ahrs_aligner.lp_gyro.r, \
&imu.gyro.p, \
&imu.gyro.q, \
&imu.gyro.r, \
&ahrs_aligner.noise, \
&ahrs_aligner.low_noise_cnt, \
&ahrs_aligner.status); \
}