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[paparazzi-commits] [4430] Reuse old/ unused WHIRLY messages for astro m
From: |
Allen Ibara |
Subject: |
[paparazzi-commits] [4430] Reuse old/ unused WHIRLY messages for astro motor bench and ahrs quat debug |
Date: |
Fri, 15 Jan 2010 08:09:34 +0000 |
Revision: 4430
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4430
Author: aibara
Date: 2010-01-15 08:09:34 +0000 (Fri, 15 Jan 2010)
Log Message:
-----------
Reuse old/unused WHIRLY messages for astro motor bench and ahrs quat debug
Modified Paths:
--------------
paparazzi3/trunk/conf/messages.xml
paparazzi3/trunk/sw/in_progress/python/attitude_viz.py
Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml 2010-01-15 08:04:19 UTC (rev 4429)
+++ paparazzi3/trunk/conf/messages.xml 2010-01-15 08:09:34 UTC (rev 4430)
@@ -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">
Modified: paparazzi3/trunk/sw/in_progress/python/attitude_viz.py
===================================================================
--- paparazzi3/trunk/sw/in_progress/python/attitude_viz.py 2010-01-15
08:04:19 UTC (rev 4429)
+++ paparazzi3/trunk/sw/in_progress/python/attitude_viz.py 2010-01-15
08:09:34 UTC (rev 4430)
@@ -217,7 +217,7 @@
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:
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