mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 00:50:34 +08:00
Merge remote-tracking branch 'upstream/master' into linux
Signed-off-by: Mark Charlebois <charlebm@gmail.com> Conflicts: src/drivers/rgbled/rgbled.cpp src/modules/commander/PreflightCheck.cpp src/modules/commander/airspeed_calibration.cpp src/modules/commander/calibration_routines.cpp src/modules/commander/gyro_calibration.cpp src/modules/commander/mag_calibration.cpp src/modules/mc_att_control/mc_att_control_main.cpp
This commit is contained in:
Mark Charlebois
+91
-93
@@ -52,7 +52,6 @@
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#include <errno.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <poll.h>
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#include <stdlib.h>
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#include <string.h>
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#include <ctype.h>
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@@ -152,11 +151,6 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1);
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log_msgs_skipped++; \
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}
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#define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \
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fds[fdsc_count].fd = subs.##_var##_sub; \
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fds[fdsc_count].events = POLLIN; \
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fdsc_count++;
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#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
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static bool main_thread_should_exit = false; /**< Deamon exit flag */
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@@ -219,7 +213,7 @@ static void *logwriter_thread(void *arg);
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*/
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__EXPORT int sdlog2_main(int argc, char *argv[]);
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static bool copy_if_updated(orb_id_t topic, int handle, void *buffer);
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static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer);
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/**
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* Mainloop of sd log deamon.
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@@ -814,14 +808,25 @@ int write_parameters(int fd)
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return written;
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}
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bool copy_if_updated(orb_id_t topic, int handle, void *buffer)
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bool copy_if_updated(orb_id_t topic, int *handle, void *buffer)
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{
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bool updated;
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bool updated = false;
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orb_check(handle, &updated);
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if (*handle < 0) {
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if (OK == orb_exists(topic, 0)) {
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*handle = orb_subscribe(topic);
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/* copy first data */
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if (*handle >= 0) {
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orb_copy(topic, *handle, buffer);
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updated = true;
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}
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}
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} else {
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orb_check(*handle, &updated);
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if (updated) {
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orb_copy(topic, handle, buffer);
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if (updated) {
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orb_copy(topic, *handle, buffer);
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}
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}
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return updated;
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@@ -1127,54 +1132,47 @@ int sdlog2_thread_main(int argc, char *argv[])
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int mc_att_ctrl_status_sub;
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} subs;
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subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
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subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
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subs.vtol_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
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subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
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subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
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subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
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subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
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subs.act_outputs_sub = orb_subscribe(ORB_ID(actuator_outputs));
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subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
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subs.act_controls_1_sub = orb_subscribe(ORB_ID(actuator_controls_1));
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subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
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subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
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subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
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subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
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subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
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subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
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subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
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subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
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subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
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subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
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subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
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subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
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subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
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subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
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subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
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subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
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subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
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subs.tsync_sub = orb_subscribe(ORB_ID(time_offset));
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subs.mc_att_ctrl_status_sub = orb_subscribe(ORB_ID(mc_att_ctrl_status));
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/* we need to rate-limit wind, as we do not need the full update rate */
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orb_set_interval(subs.wind_sub, 90);
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subs.encoders_sub = orb_subscribe(ORB_ID(encoders));
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subs.cmd_sub = -1;
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subs.status_sub = -1;
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subs.vtol_status_sub = -1;
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subs.gps_pos_sub = -1;
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subs.sensor_sub = -1;
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subs.att_sub = -1;
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subs.att_sp_sub = -1;
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subs.rates_sp_sub = -1;
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subs.act_outputs_sub = -1;
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subs.act_controls_sub = -1;
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subs.act_controls_1_sub = -1;
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subs.local_pos_sub = -1;
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subs.local_pos_sp_sub = -1;
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subs.global_pos_sub = -1;
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subs.triplet_sub = -1;
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subs.vicon_pos_sub = -1;
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subs.vision_pos_sub = -1;
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subs.flow_sub = -1;
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subs.rc_sub = -1;
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subs.airspeed_sub = -1;
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subs.esc_sub = -1;
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subs.global_vel_sp_sub = -1;
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subs.battery_sub = -1;
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subs.range_finder_sub = -1;
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subs.estimator_status_sub = -1;
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subs.tecs_status_sub = -1;
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subs.system_power_sub = -1;
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subs.servorail_status_sub = -1;
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subs.wind_sub = -1;
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subs.tsync_sub = -1;
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subs.mc_att_ctrl_status_sub = -1;
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subs.encoders_sub = -1;
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/* add new topics HERE */
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for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
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subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
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}
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if (_extended_logging) {
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subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
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} else {
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subs.sat_info_sub = 0;
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for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
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subs.telemetry_subs[i] = -1;
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}
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subs.sat_info_sub = -1;
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/* close non-needed fd's */
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@@ -1222,12 +1220,12 @@ int sdlog2_thread_main(int argc, char *argv[])
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usleep(sleep_delay);
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/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
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if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
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if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf.cmd)) {
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handle_command(&buf.cmd);
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}
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/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
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bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
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bool status_updated = copy_if_updated(ORB_ID(vehicle_status), &subs.status_sub, &buf_status);
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if (status_updated) {
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if (log_when_armed) {
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@@ -1236,7 +1234,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- GPS POSITION - LOG MANAGEMENT --- */
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bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
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bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), &subs.gps_pos_sub, &buf_gps_pos);
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if (gps_pos_updated && log_name_timestamp) {
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gps_time = buf_gps_pos.time_utc_usec;
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@@ -1267,7 +1265,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- VTOL VEHICLE STATUS --- */
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if(copy_if_updated(ORB_ID(vtol_vehicle_status), subs.vtol_status_sub, &buf.vtol_status)) {
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if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) {
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log_msg.msg_type = LOG_VTOL_MSG;
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log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot;
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LOGBUFFER_WRITE_AND_COUNT(VTOL);
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@@ -1298,7 +1296,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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/* --- SATELLITE INFO - UNIT #1 --- */
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if (_extended_logging) {
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if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) {
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if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) {
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/* log the SNR of each satellite for a detailed view of signal quality */
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unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
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@@ -1344,7 +1342,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- SENSOR COMBINED --- */
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if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
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if (copy_if_updated(ORB_ID(sensor_combined), &subs.sensor_sub, &buf.sensor)) {
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bool write_IMU = false;
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bool write_IMU1 = false;
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bool write_IMU2 = false;
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@@ -1486,7 +1484,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- ATTITUDE --- */
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if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
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if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) {
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log_msg.msg_type = LOG_ATT_MSG;
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log_msg.body.log_ATT.q_w = buf.att.q[0];
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log_msg.body.log_ATT.q_x = buf.att.q[1];
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@@ -1505,7 +1503,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- ATTITUDE SETPOINT --- */
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if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) {
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if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), &subs.att_sp_sub, &buf.att_sp)) {
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log_msg.msg_type = LOG_ATSP_MSG;
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log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
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log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
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@@ -1519,7 +1517,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- RATES SETPOINT --- */
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if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) {
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if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), &subs.rates_sp_sub, &buf.rates_sp)) {
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log_msg.msg_type = LOG_ARSP_MSG;
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log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
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log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
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@@ -1528,14 +1526,14 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- ACTUATOR OUTPUTS --- */
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if (copy_if_updated(ORB_ID(actuator_outputs), subs.act_outputs_sub, &buf.act_outputs)) {
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if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_sub, &buf.act_outputs)) {
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log_msg.msg_type = LOG_OUT0_MSG;
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memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
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LOGBUFFER_WRITE_AND_COUNT(OUT0);
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}
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/* --- ACTUATOR CONTROL --- */
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if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) {
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if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &subs.act_controls_sub, &buf.act_controls)) {
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log_msg.msg_type = LOG_ATTC_MSG;
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log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
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log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
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@@ -1545,7 +1543,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- ACTUATOR CONTROL FW VTOL --- */
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if(copy_if_updated(ORB_ID(actuator_controls_1),subs.act_controls_1_sub,&buf.act_controls)) {
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if(copy_if_updated(ORB_ID(actuator_controls_1), &subs.act_controls_1_sub,&buf.act_controls)) {
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log_msg.msg_type = LOG_ATC1_MSG;
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log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
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log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
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@@ -1555,7 +1553,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- LOCAL POSITION --- */
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if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) {
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if (copy_if_updated(ORB_ID(vehicle_local_position), &subs.local_pos_sub, &buf.local_pos)) {
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log_msg.msg_type = LOG_LPOS_MSG;
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log_msg.body.log_LPOS.x = buf.local_pos.x;
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log_msg.body.log_LPOS.y = buf.local_pos.y;
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@@ -1581,7 +1579,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- LOCAL POSITION SETPOINT --- */
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if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
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if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), &subs.local_pos_sp_sub, &buf.local_pos_sp)) {
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log_msg.msg_type = LOG_LPSP_MSG;
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log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
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log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
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@@ -1597,7 +1595,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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}
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/* --- GLOBAL POSITION --- */
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if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) {
|
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if (copy_if_updated(ORB_ID(vehicle_global_position), &subs.global_pos_sub, &buf.global_pos)) {
|
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log_msg.msg_type = LOG_GPOS_MSG;
|
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log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
|
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log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
|
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@@ -1616,7 +1614,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
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}
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/* --- GLOBAL POSITION SETPOINT --- */
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if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
|
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if (copy_if_updated(ORB_ID(position_setpoint_triplet), &subs.triplet_sub, &buf.triplet)) {
|
||||
|
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if (buf.triplet.current.valid) {
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log_msg.msg_type = LOG_GPSP_MSG;
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@@ -1634,7 +1632,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
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}
|
||||
|
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/* --- VICON POSITION --- */
|
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if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
|
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if (copy_if_updated(ORB_ID(vehicle_vicon_position), &subs.vicon_pos_sub, &buf.vicon_pos)) {
|
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log_msg.msg_type = LOG_VICN_MSG;
|
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log_msg.body.log_VICN.x = buf.vicon_pos.x;
|
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log_msg.body.log_VICN.y = buf.vicon_pos.y;
|
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@@ -1646,7 +1644,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
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/* --- VISION POSITION --- */
|
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if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
|
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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.body.log_VISN.x = buf.vision_pos.x;
|
||||
log_msg.body.log_VISN.y = buf.vision_pos.y;
|
||||
@@ -1654,15 +1652,15 @@ int sdlog2_thread_main(int argc, char *argv[])
|
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log_msg.body.log_VISN.vx = buf.vision_pos.vx;
|
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log_msg.body.log_VISN.vy = buf.vision_pos.vy;
|
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log_msg.body.log_VISN.vz = buf.vision_pos.vz;
|
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log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
|
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log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
|
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log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
|
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log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
|
||||
log_msg.body.log_VISN.qw = buf.vision_pos.q[0]; // vision_position_estimate uses [w,x,y,z] convention
|
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log_msg.body.log_VISN.qx = buf.vision_pos.q[1];
|
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log_msg.body.log_VISN.qy = buf.vision_pos.q[2];
|
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log_msg.body.log_VISN.qz = buf.vision_pos.q[3];
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LOGBUFFER_WRITE_AND_COUNT(VISN);
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}
|
||||
|
||||
/* --- FLOW --- */
|
||||
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
|
||||
if (copy_if_updated(ORB_ID(optical_flow), &subs.flow_sub, &buf.flow)) {
|
||||
log_msg.msg_type = LOG_FLOW_MSG;
|
||||
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
|
||||
log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature;
|
||||
@@ -1678,7 +1676,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- RC CHANNELS --- */
|
||||
if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
|
||||
if (copy_if_updated(ORB_ID(rc_channels), &subs.rc_sub, &buf.rc)) {
|
||||
log_msg.msg_type = LOG_RC_MSG;
|
||||
/* Copy only the first 8 channels of 14 */
|
||||
memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
|
||||
@@ -1688,7 +1686,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- AIRSPEED --- */
|
||||
if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) {
|
||||
if (copy_if_updated(ORB_ID(airspeed), &subs.airspeed_sub, &buf.airspeed)) {
|
||||
log_msg.msg_type = LOG_AIRS_MSG;
|
||||
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
|
||||
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
|
||||
@@ -1697,7 +1695,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- ESCs --- */
|
||||
if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) {
|
||||
if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) {
|
||||
for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
|
||||
log_msg.msg_type = LOG_ESC_MSG;
|
||||
log_msg.body.log_ESC.counter = buf.esc.counter;
|
||||
@@ -1717,7 +1715,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- GLOBAL VELOCITY SETPOINT --- */
|
||||
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) {
|
||||
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), &subs.global_vel_sp_sub, &buf.global_vel_sp)) {
|
||||
log_msg.msg_type = LOG_GVSP_MSG;
|
||||
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
|
||||
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
|
||||
@@ -1726,7 +1724,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- BATTERY --- */
|
||||
if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) {
|
||||
if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) {
|
||||
log_msg.msg_type = LOG_BATT_MSG;
|
||||
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
|
||||
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
|
||||
@@ -1736,7 +1734,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- SYSTEM POWER RAILS --- */
|
||||
if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
|
||||
if (copy_if_updated(ORB_ID(system_power), &subs.system_power_sub, &buf.system_power)) {
|
||||
log_msg.msg_type = LOG_PWR_MSG;
|
||||
log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
|
||||
log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
|
||||
@@ -1754,8 +1752,8 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- TELEMETRY --- */
|
||||
for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
|
||||
if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
|
||||
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
|
||||
if (copy_if_updated(telemetry_status_orb_id[i], &subs.telemetry_subs[i], &buf.telemetry)) {
|
||||
log_msg.msg_type = LOG_TEL0_MSG + i;
|
||||
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
|
||||
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
|
||||
@@ -1770,7 +1768,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- BOTTOM DISTANCE --- */
|
||||
if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) {
|
||||
if (copy_if_updated(ORB_ID(sensor_range_finder), &subs.range_finder_sub, &buf.range_finder)) {
|
||||
log_msg.msg_type = LOG_DIST_MSG;
|
||||
log_msg.body.log_DIST.bottom = buf.range_finder.distance;
|
||||
log_msg.body.log_DIST.bottom_rate = 0.0f;
|
||||
@@ -1779,7 +1777,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- ESTIMATOR STATUS --- */
|
||||
if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
|
||||
if (copy_if_updated(ORB_ID(estimator_status), &subs.estimator_status_sub, &buf.estimator_status)) {
|
||||
log_msg.msg_type = LOG_EST0_MSG;
|
||||
unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
|
||||
memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
|
||||
@@ -1798,7 +1796,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- TECS STATUS --- */
|
||||
if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
|
||||
if (copy_if_updated(ORB_ID(tecs_status), &subs.tecs_status_sub, &buf.tecs_status)) {
|
||||
log_msg.msg_type = LOG_TECS_MSG;
|
||||
log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
|
||||
log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
|
||||
@@ -1818,7 +1816,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- WIND ESTIMATE --- */
|
||||
if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.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;
|
||||
@@ -1828,7 +1826,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- ENCODERS --- */
|
||||
if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) {
|
||||
if (copy_if_updated(ORB_ID(encoders), &subs.encoders_sub, &buf.encoders)) {
|
||||
log_msg.msg_type = LOG_ENCD_MSG;
|
||||
log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
|
||||
log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
|
||||
@@ -1838,14 +1836,14 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
/* --- TIMESYNC OFFSET --- */
|
||||
if (copy_if_updated(ORB_ID(time_offset), subs.tsync_sub, &buf.time_offset)) {
|
||||
if (copy_if_updated(ORB_ID(time_offset), &subs.tsync_sub, &buf.time_offset)) {
|
||||
log_msg.msg_type = LOG_TSYN_MSG;
|
||||
log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns;
|
||||
LOGBUFFER_WRITE_AND_COUNT(TSYN);
|
||||
}
|
||||
|
||||
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
|
||||
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
|
||||
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), &subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
|
||||
log_msg.msg_type = LOG_MACS_MSG;
|
||||
log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ;
|
||||
log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ;
|
||||
|
||||
@@ -441,7 +441,7 @@ struct log_ENCD_s {
|
||||
};
|
||||
|
||||
/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
|
||||
#define LOG_AIR1_MSG 40
|
||||
#define LOG_AIR1_MSG 41
|
||||
|
||||
/* --- VTOL - VTOL VEHICLE STATUS */
|
||||
#define LOG_VTOL_MSG 42
|
||||
@@ -456,7 +456,7 @@ struct log_TSYN_s {
|
||||
};
|
||||
|
||||
/* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */
|
||||
#define LOG_MACS_MSG 42
|
||||
#define LOG_MACS_MSG 44
|
||||
struct log_MACS_s {
|
||||
float roll_rate_integ;
|
||||
float pitch_rate_integ;
|
||||
|
||||
Reference in New Issue
Block a user