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add message body rates accel (#2894)

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This commit is contained in:
Ewoud Smeur
2022-09-20 11:44:50 +02:00
committed by GitHub
parent fbbb98ebfd
commit c2689dde64
2 changed files with 13 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+12
View File
@@ -144,6 +144,17 @@ static void send_fp(struct transport_tx *trans, struct link_device *dev)
&autopilot.flight_time); &autopilot.flight_time);
} }
static void send_body_rates_accel(struct transport_tx *trans, struct link_device *dev)
{
pprz_msg_send_BODY_RATES_ACCEL(trans, dev, AC_ID,
&(stateGetBodyRates_f()->p),
&(stateGetBodyRates_f()->q),
&(stateGetBodyRates_f()->r),
&(stateGetAccelBody_i()->x),
&(stateGetAccelBody_i()->y),
&(stateGetAccelBody_i()->z));
}
static void send_fp_min(struct transport_tx *trans, struct link_device *dev) static void send_fp_min(struct transport_tx *trans, struct link_device *dev)
{ {
#if USE_GPS #if USE_GPS
@@ -199,6 +210,7 @@ void autopilot_firmware_init(void)
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp); register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP, send_fp);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min); register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_FP_MIN, send_fp_min);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd); register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_CMD, send_rotorcraft_cmd);
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_BODY_RATES_ACCEL, send_body_rates_accel);
#ifdef RADIO_CONTROL #ifdef RADIO_CONTROL
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc); register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ROTORCRAFT_RADIO_CONTROL, send_rotorcraft_rc);
#endif #endif
sw/ext/pprzlink
+1 -1
Submodule sw/ext/pprzlink updated: 710bf6bd94...20cf56bcd0