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Merge remote-tracking branch 'px4/mtecs' into navigator_rewrite

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Julian Oes
2014-06-06 23:16:39 +02:00
parent 289094e059 e03411fc89
commit 078eed41af
14 changed files with 300 additions and 43 deletions
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src/modules/sdlog2/sdlog2.c
+18
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@@ -87,6 +87,7 @@
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/wind_estimate.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -943,6 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct tecs_status_s tecs_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
struct wind_estimate_s wind_estimate;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -982,6 +984,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GS1A_s log_GS1A;
struct log_GS1B_s log_GS1B;
struct log_TECS_s log_TECS;
struct log_WIND_s log_WIND;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1016,6 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int tecs_status_sub;
int system_power_sub;
int servorail_status_sub;
int wind_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1044,6 +1048,9 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
/* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90);
thread_running = true;
@@ -1508,9 +1515,20 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
LOGBUFFER_WRITE_AND_COUNT(TECS);
}
/* --- WIND ESTIMATE --- */
if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) {
log_msg.msg_type = LOG_WIND_MSG;
log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
LOGBUFFER_WRITE_AND_COUNT(WIND);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */