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[fixedwing] add PERIODIC_SEND_AHRS_QUAT_INT

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Felix Ruess
2013-10-23 22:34:16 +02:00
parent 3a3dc5def7
commit fecd7e7aaf
1 changed files with 16 additions and 0 deletions
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sw/airborne/firmwares/fixedwing/ap_downlink.h
+16
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@@ -332,6 +332,22 @@
#define PERIODIC_SEND_GX3_INFO(_trans, _dev) {} #define PERIODIC_SEND_GX3_INFO(_trans, _dev) {}
#endif #endif
#if USE_AHRS && !defined AHRS_FLOAT
#include "subsystems/ahrs.h"
#define PERIODIC_SEND_AHRS_QUAT_INT(_trans, _dev) { \
DOWNLINK_SEND_AHRS_QUAT_INT(_trans, _dev, \
&ahrs_impl.weight, \
&ahrs_impl.ltp_to_imu_quat.qi, \
&ahrs_impl.ltp_to_imu_quat.qx, \
&ahrs_impl.ltp_to_imu_quat.qy, \
&ahrs_impl.ltp_to_imu_quat.qz, \
&(stateGetNedToBodyQuat_i()->qi), \
&(stateGetNedToBodyQuat_i()->qx), \
&(stateGetNedToBodyQuat_i()->qy), \
&(stateGetNedToBodyQuat_i()->qz)); \
}
#endif
#ifdef USE_I2C0 #ifdef USE_I2C0
#define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \ #define PERIODIC_SEND_I2C0_ERRORS(_trans, _dev) { \
uint16_t i2c0_queue_full_cnt = i2c0.errors->queue_full_cnt; \ uint16_t i2c0_queue_full_cnt = i2c0.errors->queue_full_cnt; \