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Merge pull request #1317 from TSC21/sdlog2_vision

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Sdlog2: add vision estimation logging
This commit is contained in:
Thomas Gubler 2014-08-25 23:48:26 +02:00
commit 19fa79dcb1
2 changed files with 36 additions and 0 deletions
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21
src/modules/sdlog2/sdlog2.c
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@ -76,6 +76,7 @@
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.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/optical_flow.h>
#include <uORB/topics/battery_status.h>
@ -934,6 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct vision_position_estimate vision_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
@ -984,6 +986,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_VISN_s log_VISN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
@ -1013,6 +1016,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int gps_pos_sub;
int sat_info_sub;
int vicon_pos_sub;
int vision_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
@ -1043,6 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@ -1459,6 +1464,22 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
}
/* --- VISION POSITION --- */
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;
log_msg.body.log_VISN.z = buf.vision_pos.z;
log_msg.body.log_VISN.vx = buf.vision_pos.vx;
log_msg.body.log_VISN.vy = buf.vision_pos.vy;
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);
}
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {

15
src/modules/sdlog2/sdlog2_messages.h
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@ -391,6 +391,20 @@ struct log_TEL_s {
uint64_t heartbeat_time;
};
/* --- VISN - VISION POSITION --- */
#define LOG_VISN_MSG 38
struct log_VISN_s {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float qx;
float qy;
float qz;
float qw;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
@ -449,6 +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(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "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(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"),