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Reuse old/unused WHIRLY messages for astro motor bench and ahrs quat debug

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This commit is contained in:
Allen Ibara
2010-01-15 08:09:34 +00:00
parent ac10ef3e30
commit f780dda162
2 changed files with 18 additions and 62 deletions
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conf/messages.xml
+17 -61
View File
@@ -1290,73 +1290,29 @@
<field name="motor_command" type="float"/>
</message>
<message name="WHIRLY_MOTORCONTROL" id="183">
<field name="rpm1" type="uint16"/>
<field name="rpm2" type="uint16"/>
<field name="fault1" type="uint16"/>
<field name="fault2" type="uint16"/>
<message name="ASTRO_MOTOR" id="183">
<field name="fault" type="uint16"/>
<field name="raw_speed" type="uint16"/>
<field name="raw_dcbus" type="uint16"/>
</message>
<message name="WHIRLY_STATUS" id="184">
<field name="whirly_timestamp" type="float"/>
<field name="xsens1_error_ck" type="uint32"/>
<field name="xsens2_error_ck" type="uint32"/>
<field name="xsens1_error_mid" type="uint32"/>
<field name="xsens2_error_mid" type="uint32"/>
<field name="xsens1_error_seq" type="uint32"/>
<field name="xsens2_error_seq" type="uint32"/>
<field name="csc1_loops" type="uint32"/>
<field name="csc1_msgs" type="uint32"/>
<field name="csc2_loops" type="uint32"/>
<field name="csc2_msgs" type="uint32"/>
<field name="busvolts0_0" type="float"/>
<field name="busvolts0_1" type="float"/>
<field name="busvolts1_0" type="float"/>
<field name="busvolts1_1" type="float"/>
<message name="BLMC_SPEEDS" id="184">
<field name="speeds" type="uint16[]"/>
</message>
<message name="WHIRLY_IMU" id="185">
<field name="whirly_timestamp" type="float"/>
<field name="p1_gyro_p" type="float"/>
<field name="p1_gyro_r" type="float"/>
<field name="p1_gyro_y" type="float"/>
<field name="p1_accel_x" type="float"/>
<field name="p1_accel_y" type="float"/>
<field name="p1_accel_z" type="float"/>
<field name="p1_mag_x" type="float"/>
<field name="p1_mag_y" type="float"/>
<field name="p1_mag_z" type="float"/>
<field name="p2_gyro_p" type="float"/>
<field name="p2_gyro_r" type="float"/>
<field name="p2_gyro_y" type="float"/>
<field name="p2_accel_x" type="float"/>
<field name="p2_accel_y" type="float"/>
<field name="p2_accel_z" type="float"/>
<field name="p2_mag_x" type="float"/>
<field name="p2_mag_y" type="float"/>
<field name="p2_mag_z" type="float"/>
<message name="AHRS_DEBUG_QUAT" id="185">
<field name="jqi" type="float"/>
<field name="jqx" type="float"/>
<field name="jqy" type="float"/>
<field name="jqz" type="float"/>
<field name="xqi" type="float"/>
<field name="xqx" type="float"/>
<field name="xqy" type="float"/>
<field name="xqz" type="float"/>
</message>
<message name="WHIRLY_IMU_RAW" id="186">
<field name="whirly_timestamp" type="float"/>
<field name="p1_gyro_p_raw" type="uint16"/>
<field name="p1_gyro_r_raw" type="uint16"/>
<field name="p1_gyro_y_raw" type="uint16"/>
<field name="p1_accel_x_raw" type="uint16"/>
<field name="p1_accel_y_raw" type="uint16"/>
<field name="p1_accel_z_raw" type="uint16"/>
<field name="p1_mag_x_raw" type="uint16"/>
<field name="p1_mag_y_raw" type="uint16"/>
<field name="p1_mag_z_raw" type="uint16"/>
<field name="p2_gyro_p_raw" type="uint16"/>
<field name="p2_gyro_r_raw" type="uint16"/>
<field name="p2_gyro_y_raw" type="uint16"/>
<field name="p2_accel_x_raw" type="uint16"/>
<field name="p2_accel_y_raw" type="uint16"/>
<field name="p2_accel_z_raw" type="uint16"/>
<field name="p2_mag_x_raw" type="uint16"/>
<field name="p2_mag_y_raw" type="uint16"/>
<field name="p2_mag_z_raw" type="uint16"/>
<message name="BLMC_BUSVOLTS" id="186">
<field name="busvolts" type="uint16[]"/>
</message>
<message name="WHIRLY_KALMAN_DEBUG" id="187">
sw/in_progress/python/attitude_viz.py
+1 -1
View File
@@ -217,7 +217,7 @@ if __name__ == "__main__":
elif o in ("-m", "--message"):
MESSAGE_NAME=a
elif o in ("-a", "--alt-message"):
MESSAGE_NAME = "JOBY_AHRS_DEBUG"
MESSAGE_NAME = "AHRS_DEBUG"
except getopt.error, msg:
print msg
print """usage: