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booz ahrs lkf telemetry

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This commit is contained in:
Felix Ruess
2009-07-31 00:13:38 +00:00
parent ccde322106
commit ca0846c7c1
1 changed files with 20 additions and 13 deletions
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sw/airborne/booz/booz2_telemetry.h
+20 -13
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@@ -87,7 +87,7 @@
&radio_control.values[RADIO_CONTROL_THROTTLE], \
&radio_control.values[RADIO_CONTROL_MODE], \
&radio_control.status);}
#else
#define PERIODIC_SEND_RC() {}
#endif
@@ -302,23 +302,30 @@
&bafl_rates.p, \
&bafl_rates.q, \
&bafl_rates.r, \
&bafl_bias.p, \
&bafl_bias.q, \
&bafl_bias.r); \
&bafl_accel.x, \
&bafl_accel.y, \
&bafl_accel.z, \
&bafl_mag.x, \
&bafl_mag.y, \
&bafl_mag.z); \
}
#define PERIODIC_SEND_BOOZ_AHRS_LKF_DEBUG() { \
DOWNLINK_SEND_BOOZ_AHRS_LKF_DEBUG(&bafl_X[0], \
&bafl_X[1], \
&bafl_X[2], \
&bafl_bias_err.p, \
&bafl_bias_err.q, \
&bafl_bias_err.r, \
&bafl_P[0][0], \
&bafl_P[1][1], \
&bafl_P[2][2], \
&bafl_P[3][3], \
&bafl_P[4][4], \
&bafl_P[5][5]); \
&bafl_bias.p, \
&bafl_bias.q, \
&bafl_bias.r, \
&bafl_bias_err.p, \
&bafl_bias_err.q, \
&bafl_bias_err.r, \
&bafl_qnorm, \
&bafl_P[0][0], \
&bafl_P[1][1], \
&bafl_P[2][2], \
&bafl_P[3][3], \
&bafl_P[4][4], \
&bafl_P[5][5]); \
}
#else
#define PERIODIC_SEND_BOOZ_AHRS_LKF() {}