fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sdlog: setup flow innovation logging

Browse Source
This commit is contained in:
bugobliterator
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent 47f79a66d1
commit 01ee608117
4 changed files with 21 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+9
View File
@@ -1200,6 +1200,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_CAMT_s log_CAMT;
struct log_RPL1_s log_RPL1;
struct log_RPL2_s log_RPL2;
struct log_EST6_s log_INO3;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1858,6 +1859,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
<<<<<<< HEAD
/* --- ESCs --- */
if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) {
@@ -1995,6 +1997,13 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_INO2.s[7] = buf.innovations.heading_innov_var;
LOGBUFFER_WRITE_AND_COUNT(EST5);
log_msg.msg_type = LOG_EST6_MSG;
memset(&(log_msg.body.log_INO3.s), 0, sizeof(log_msg.body.log_INO3.s));
for(unsigned i = 0; i < 2; i++) {
log_msg.body.log_INO3.s[i] = buf.innovations.flow_innov[i];
log_msg.body.log_INO3.s[i + 2] = buf.innovations.flow_innov_var[i];
}
LOGBUFFER_WRITE_AND_COUNT(EST6);
}
/* --- TECS STATUS --- */