[paparazzi-commits] [4665] Re-use old/dead WHIRLY message for system status message

[Allen Ibara]

Revision: 4665
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4665
Author:   aibara
Date:     2010-03-11 04:08:13 +0000 (Thu, 11 Mar 2010)
Log Message:
-----------
Re-use old/dead WHIRLY message for system status message

Modified Paths:
--------------
    paparazzi3/trunk/conf/messages.xml

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-03-11 04:07:31 UTC (rev 4664)
+++ paparazzi3/trunk/conf/messages.xml  2010-03-11 04:08:13 UTC (rev 4665)
@@ -1323,18 +1323,15 @@
       <field name="busvolts"   type="uint16[]"/>
     </message>
 
-    <message name="WHIRLY_KALMAN_DEBUG" id="187">
-      <field name="whirly_timestamp"   type="float"/>
-      <field name="p00" type="float"/>
-      <field name="p11" type="float"/>
-      <field name="p22" type="float"/>
-      <field name="p33" type="float"/>
-      <field name="p44" type="float"/>
-      <field name="p55" type="float"/>
-      <field name="p66" type="float"/>
-      <field name="meas_phi" type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
-      <field name="meas_theta" type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
-      <field name="meas_psi" type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
+    <message name="SYSTEM_STATUS" id="187">
+      <field name="xsens1_count"     type="uint16"/>
+      <field name="xsens2_count"     type="uint16"/>
+      <field name="csc1_loop_count"  type="uint32"/>
+      <field name="csc1_msg_count"   type="uint32"/>
+      <field name="csc2_loop_count"  type="uint32"/>
+      <field name="csc2_msg_count"   type="uint32"/>
+      <field name="can_rx_err"      type="uint32"/>
+      <field name="can_tx_err"      type="uint32"/>
     </message>
 
     <message name="WHIRLY_ESTIMATOR_DEBUG" id="188">
@@ -1366,6 +1363,8 @@
       <field name="alpha"   type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
       <field name="beta"    type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
       <field name="alpha_target"   type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
+      <field name="alpha_vane_error" type="float" unit="rad" alt_unit="deg" 
alt_unit_coef="57.3"/>
+      <field name="pitch_wish" type="float"/>
     </message>
 
     <message name="CONTROLLER_GAINS" id="192">