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sdlog2: update vision log fields

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This commit is contained in:
Nuno Marques
2014-08-25 14:16:13 +01:00
parent ec8438bdca
commit 0994006f96
2 changed files with 19 additions and 10 deletions
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src/modules/sdlog2/sdlog2.c
+11 -6
View File
@@ -76,6 +76,7 @@
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h> #include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h> #include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h> #include <uORB/topics/battery_status.h>
@@ -934,7 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos; struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet; struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos; struct vehicle_vicon_position_s vicon_pos;
struct vehicle_vision_position_s vision_pos; struct vision_position_estimate_s vision_pos;
struct optical_flow_s flow; struct optical_flow_s flow;
struct rc_channels_s rc; struct rc_channels_s rc;
struct differential_pressure_s diff_pres; struct differential_pressure_s diff_pres;
@@ -1046,7 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
subs.vision_pos_sub = orb_subscribe(ORB_ID(vehicle_vision_position)); subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@@ -1465,14 +1466,18 @@ int sdlog2_thread_main(int argc, char *argv[])
} }
/* --- VISION POSITION --- */ /* --- VISION POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_vision_position), subs.vision_pos_sub, &buf.vision_pos)) { if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
log_msg.msg_type = LOG_VISN_MSG; log_msg.msg_type = LOG_VISN_MSG;
log_msg.body.log_VISN.x = buf.vision_pos.x; log_msg.body.log_VISN.x = buf.vision_pos.x;
log_msg.body.log_VISN.y = buf.vision_pos.y; log_msg.body.log_VISN.y = buf.vision_pos.y;
log_msg.body.log_VISN.z = buf.vision_pos.z; log_msg.body.log_VISN.z = buf.vision_pos.z;
log_msg.body.log_VISN.pitch = buf.vision_pos.pitch; log_msg.body.log_VISN.vx = buf.vision_pos.vx;
log_msg.body.log_VISN.roll = buf.vision_pos.roll; log_msg.body.log_VISN.vy = buf.vision_pos.vy;
log_msg.body.log_VISN.yaw = buf.vision_pos.yaw; log_msg.body.log_VISN.vz = buf.vision_pos.vz;
log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
LOGBUFFER_WRITE_AND_COUNT(VISN); LOGBUFFER_WRITE_AND_COUNT(VISN);
} }
src/modules/sdlog2/sdlog2_messages.h
+8 -4
View File
@@ -397,9 +397,13 @@ struct log_VISN_s {
float x; float x;
float y; float y;
float z; float z;
float roll; float vx;
float pitch; float vy;
float yaw; float vz;
float qx;
float qy;
float qz;
float qw;
}; };
/********** SYSTEM MESSAGES, ID > 0x80 **********/ /********** SYSTEM MESSAGES, ID > 0x80 **********/
@@ -459,7 +463,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(VISN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),