fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 16:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' of github.com:PX4/Firmware into gps_logging_dual

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-23 19:41:54 +02:00
parent ffe095646c 5dab59d3cd
commit 0a691eeb7e
25 changed files with 271 additions and 946 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+36 -17
View File
@@ -143,8 +143,8 @@ static bool main_thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
@@ -671,7 +671,7 @@ int write_formats(int fd)
int written = 0;
/* fill message format packet for each format and write it */
for (int i = 0; i < log_formats_num; i++) {
for (unsigned i = 0; i < log_formats_num; i++) {
log_msg_format.body = log_formats[i];
written += write(fd, &log_msg_format, sizeof(log_msg_format));
}
@@ -1114,6 +1114,15 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
float snr_mean = 0.0f;
for (unsigned i = 0; i < buf_gps_pos.satellites_visible; i++) {
snr_mean += buf_gps_pos.satellite_snr[i];
}
snr_mean /= buf_gps_pos.satellites_visible;
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
@@ -1126,6 +1135,10 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
log_msg.body.log_GPS.sats = buf_gps_pos.satellites_visible;
log_msg.body.log_GPS.snr_mean = snr_mean;
log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms;
log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator;
LOGBUFFER_WRITE_AND_COUNT(GPS);
if (_extended_logging) {
@@ -1136,27 +1149,33 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_GS0A_MSG;
memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
/* fill set A */
unsigned max_sats_a = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < gps_msg_max_snr; i++) {
for (unsigned i = 0; i < max_sats_a; i++) {
log_msg.body.log_GS0A.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
int satindex = buf_gps_pos.satellite_prn[i] - 1;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
}
}
LOGBUFFER_WRITE_AND_COUNT(GS0A);
/* do we need a 2nd set? */
if (gps_msg_max_snr > log_max_snr) {
log_msg.msg_type = LOG_GS0B_MSG;
memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
/* fill set B - deduct the count we already have taken care of */
gps_msg_max_snr -= log_max_snr;
unsigned max_sats_b = (log_max_snr > gps_msg_max_snr) ? gps_msg_max_snr : log_max_snr;
log_msg.msg_type = LOG_GS0B_MSG;
memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
/* fill set B */
for (unsigned i = 0; i < gps_msg_max_snr; i++) {
for (unsigned i = 0; i < max_sats_b; i++) {
/* count from zero, but obey offset of log_max_snr consumed units */
log_msg.body.log_GS0B.satellite_snr[i] = buf_gps_pos.satellite_snr[log_max_snr + i];
/* get second bank of satellites, thus deduct bank size from index */
int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
}
LOGBUFFER_WRITE_AND_COUNT(GS0B);
}
LOGBUFFER_WRITE_AND_COUNT(GS0B);
}
}