tlm_PdAttitudeControl.h

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/*
PD Attitude Control telemetry definition header file
 
Author: Alex Reynolds
*/
 
#ifndef TELEMETRY_TLM_PD_ATTITUDE_CONTROL_H
#define TELEMETRY_TLM_PD_ATTITUDE_CONTROL_H
 
#include "flight/Telemetry.h"
#include "apps/app_apids.h"
 
// Define the telemetry base for the PD attitude control
#define TLM_GNC_PD_ATT_CTRL_BASE     APP_APID_GNC_PD_ATT_CTRL + TLM_APID_BASE
 
// -------------------------------------------------------------------------------------
// PD CONTROL TELEMETRY APID DEFINITIONS
// -------------------------------------------------------------------------------------
#define TLM_GNC_PD_ATT_CTRL_DATA       TLM_GNC_PD_ATT_CTRL_BASE + 0x000
#define TLM_GNC_PD_ATT_CTRL_DATA_SIZE  22

TELEMETRY(tlm_gnc_pd_att_ctrl_data, TLM_GNC_PD_ATT_CTRL_DATA, TLM_GNC_PD_ATT_CTRL_DATA_SIZE, 
    ((float16), att_err_rad),                     // Angular magnitude of the difference between
                                                // command and current attitude
    ((std::array<float16, 4>), err_quat),         // Error quaternion actual/command
    ((std::array<float16, 3>), err_ang_vel),      // Difference between actual and commanded angular velocity
    ((std::array<float16, 3>), cmd_torque)        // Command torque output of the app
) 
 
#endif