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add ref to rate loop message

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Felix Ruess
2010-03-05 00:27:25 +00:00
parent a083f4a7e7
commit 4f52b60fd4
2 changed files with 33 additions and 15 deletions
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conf/messages.xml
+15 -6
View File
@@ -803,12 +803,21 @@
</message>
<message name="BOOZ2_RATE_LOOP" id="136">
<field name="spp" type="int32"/>
<field name="spq" type="int32"/>
<field name="spr" type="int32"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
<field name="sp_p" type="int32"/>
<field name="sp_q" type="int32"/>
<field name="sp_r" type="int32"/>
<field name="ref_p" type="int32"/>
<field name="ref_q" type="int32"/>
<field name="ref_r" type="int32"/>
<field name="refdot_p" type="int32"/>
<field name="refdot_q" type="int32"/>
<field name="refdot_r" type="int32"/>
<field name="ff_p" type="int32"/>
<field name="ff_q" type="int32"/>
<field name="ff_r" type="int32"/>
<field name="fb_p" type="int32"/>
<field name="fb_q" type="int32"/>
<field name="fb_r" type="int32"/>
<field name="delta_t" type="int32"/>
</message>
sw/airborne/booz/booz2_telemetry.h
+18 -9
View File
@@ -167,15 +167,24 @@ extern uint8_t telemetry_mode_Main_DefaultChannel;
}
#include "booz_stabilization.h"
#define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) { \
DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan, \
&booz_stabilization_rate_sp.p, \
&booz_stabilization_rate_sp.q, \
&booz_stabilization_rate_sp.r, \
&booz_stabilization_cmd[COMMAND_ROLL], \
&booz_stabilization_cmd[COMMAND_PITCH], \
&booz_stabilization_cmd[COMMAND_YAW], \
&booz_stabilization_cmd[COMMAND_THRUST]); \
#define PERIODIC_SEND_BOOZ2_RATE_LOOP(_chan) { \
DOWNLINK_SEND_BOOZ2_RATE_LOOP(_chan, \
&booz_stabilization_rate_sp.p, \
&booz_stabilization_rate_sp.q, \
&booz_stabilization_rate_sp.r, \
&booz_stabilization_rate_ref.p, \
&booz_stabilization_rate_ref.q, \
&booz_stabilization_rate_ref.r, \
&booz_stabilization_rate_refdot.p, \
&booz_stabilization_rate_refdot.q, \
&booz_stabilization_rate_refdot.r, \
&booz_stabilization_rate_ff_cmd.p, \
&booz_stabilization_rate_ff_cmd.q, \
&booz_stabilization_rate_ff_cmd.r, \
&booz_stabilization_rate_fb_cmd.p, \
&booz_stabilization_rate_fb_cmd.q, \
&booz_stabilization_rate_fb_cmd.r, \
&booz_stabilization_cmd[COMMAND_THRUST]); \
}
#ifdef STABILISATION_ATTITUDE_TYPE_INT