Merge pull request #1392 from PX4/textlog

System feedback message logging

src/modules/mavlink/mavlink_messages.cpp

@@ -341,11 +341,18 @@ private:
 	/* do not allow top copying this class */
 	MavlinkStreamStatustext(MavlinkStreamStatustext &);
 	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);
+	FILE *fp = nullptr;
 
 protected:
 	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
 	{}
 
+	~MavlinkStreamStatustext() {
+		if (fp) {
+			fclose(fp);
+		}
+	}
+
 	void send(const hrt_abstime t)
 	{
 		if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
@@ -359,6 +366,31 @@ protected:
 				strncpy(msg.text, logmsg.text, sizeof(msg.text));
 
 				_mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg);
+
+				/* write log messages in first instance to disk */
+				if (_mavlink->get_instance_id() == 0) {
+					if (fp) {
+						fputs(msg.text, fp);
+						fputs("\n", fp);
+						fsync(fileno(fp));
+					} else {
+						/* string to hold the path to the log */
+						char log_file_name[32] = "";
+						char log_file_path[64] = "";
+
+						timespec ts;
+						clock_gettime(CLOCK_REALTIME, &ts);
+						/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+						time_t gps_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
+						struct tm t;
+						gmtime_r(&gps_time_sec, &t);
+
+						// XXX we do not want to interfere here with the SD log app
+						strftime(log_file_name, sizeof(log_file_name), "msgs_%Y_%m_%d_%H_%M_%S.txt", &t);
+						snprintf(log_file_path, sizeof(log_file_path), "/fs/microsd/%s", log_file_name);
+						fp = fopen(log_file_path, "ab");
+					}
+				}
 			}
 		}
 	}

src/modules/sdlog2/sdlog2.c

@@ -628,6 +628,9 @@ void sdlog2_start_log()
 	perf_print_all(perf_fd);
 	close(perf_fd);
 
+	/* reset performance counters to get in-flight min and max values in post flight log */
+	perf_reset_all();
+
 	logging_enabled = true;
 }