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Add filtered alpha vane to vane message, add feed-forward adapt message, add an addition quat to quaternion debug message

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This commit is contained in:
Allen Ibara
2010-04-20 03:34:53 +00:00
parent 4d61b14a60
commit 6d21901678
1 changed files with 17 additions and 6 deletions
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conf/messages.xml
+17 -6
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@@ -1149,6 +1149,10 @@
<field name="xqx" type="float"/>
<field name="xqy" type="float"/>
<field name="xqz" type="float"/>
<field name="mqi" type="float"/>
<field name="mqx" type="float"/>
<field name="mqy" type="float"/>
<field name="mqz" type="float"/>
</message>
<message name="BLMC_BUSVOLTS" id="186">
@@ -1166,11 +1170,12 @@
<field name="can_tx_err" type="uint32"/>
</message>
<message name="WHIRLY_ESTIMATOR_DEBUG" id="188">
<field name="whirly_timestamp" type="float"/>
<field name="phi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="theta" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<field name="psi" type="float" alt_unit="deg" alt_unit_coef="57.29578"/>
<message name="DYNAMIXEL" id="188">
<field name="left_wing" type="uint16"/>
<field name="right_wing" type="uint16"/>
<field name="invalid_position" type="uint32"/>
<field name="timeout_events" type="uint32"/>
<field name="checksum_errors" type="uint32"/>
</message>
<message name="RMAT_DEBUG" id="189">
@@ -1193,10 +1198,16 @@
<message name="VANE_SENSOR" id="191">
<field name="alpha" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_filtered" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="beta" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_target" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="alpha_vane_error" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
<field name="pitch_wish" type="float"/>
</message>
<message name="BOOZ2_FF_ADAP" id="252">
<field name="roll" type="float"/>
<field name="pitch" type="float"/>
<field name="yaw" type="float"/>
</message>
<message name="CONTROLLER_GAINS" id="192">