33#ifndef LOGGER_CONTROL_EFFECTIVENESS_COMMANDS
34#define LOGGER_CONTROL_EFFECTIVENESS_COMMANDS TRUE
37#ifndef LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS
38#define LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS FALSE
41#ifndef LOGGER_CONTROL_EFFECTIVENESS_POS
42#define LOGGER_CONTROL_EFFECTIVENESS_POS FALSE
45#ifndef LOGGER_CONTROL_EFFECTIVENESS_SPEED
46#define LOGGER_CONTROL_EFFECTIVENESS_SPEED FALSE
49#ifndef LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED
50#define LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED FALSE
55#if LOGGER_CONTROL_EFFECTIVENESS_COMMANDS
56#ifdef ROTORCRAFT_FIRMWARE
59#ifdef FIXEDWING_FIRMWARE
64#if LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS
73#if LOGGER_CONTROL_EFFECTIVENESS_COMMANDS
78#if LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS
83#if LOGGER_CONTROL_EFFECTIVENESS_POS
86#if LOGGER_CONTROL_EFFECTIVENESS_SPEED
89#if LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED
118#if LOGGER_CONTROL_EFFECTIVENESS_COMMANDS
120#ifdef ROTORCRAFT_FIRMWARE
123#ifdef FIXEDWING_FIRMWARE
130#if LOGGER_CONTROL_EFFECTIVENESS_ACTUATORS
137#if LOGGER_CONTROL_EFFECTIVENESS_POS
143#if LOGGER_CONTROL_EFFECTIVENESS_SPEED
149#if LOGGER_CONTROL_EFFECTIVENESS_AIRSPEED
Hardware independent code for commands handling.
int32_t p
in rad/s with INT32_RATE_FRAC
int32_t r
in rad/s with INT32_RATE_FRAC
int32_t q
in rad/s with INT32_RATE_FRAC
vector in East North Up coordinates
static struct EnuCoor_i * stateGetPositionEnu_i(void)
Get position in local ENU coordinates (int).
static struct Int32Rates * stateGetBodyRates_i(void)
Get vehicle body angular rate (int).
static struct Int32Vect3 * stateGetAccelBody_i(void)
Get acceleration in Body coordinates (int).
static struct EnuCoor_i * stateGetSpeedEnu_i(void)
Get ground speed in local ENU coordinates (int).
static float stateGetAirspeed_f(void)
Get airspeed (float).
void logger_control_effectiveness_periodic(void)
Log the values to file.
void logger_control_effectiveness_start(void)
Write the log header line according to the enabled parts.
Log data required to compute control effectiveness.
Hardware independent API for actuators (servos, motor controllers).
static const ShellCommand commands[]
struct Stabilization stabilization
General stabilization interface for rotorcrafts.
int32_t cmd[COMMANDS_NB]
output command vector, range from [-MAX_PPRZ:MAX_PPRZ] (store for messages)
API to get/set the generic vehicle states.
Architecture independent timing functions.
static float get_sys_time_float(void)
Get the time in seconds since startup.