fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 03:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

position_setpoint_triplet refactoring finished

Browse Source
This commit is contained in:
Anton Babushkin
2014-01-23 22:41:26 +01:00
parent 6acb8fa66f
commit 1cffa9d2f7
9 changed files with 51 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+5 -8
View File
@@ -73,7 +73,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -908,7 +908,7 @@ int sdlog2_thread_main(int argc, char *argv[])
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
fds[fdsc_count].fd = subs.triplet_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -1263,18 +1263,15 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet);
orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet);
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude;
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;
log_msg.body.log_GPSP.type = buf.triplet.current.type;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.acceptance_radius = buf.triplet.current.acceptance_radius;
log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
src/modules/sdlog2/sdlog2_messages.h
+3 -6
View File
@@ -210,16 +210,13 @@ struct log_GPOS_s {
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t altitude_is_relative;
int32_t lat;
int32_t lon;
float altitude;
float alt;
float yaw;
uint8_t nav_cmd;
uint8_t type;
float loiter_radius;
int8_t loiter_direction;
float acceptance_radius;
float time_inside;
float pitch_min;
};
@@ -307,7 +304,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"),
LOG_FORMAT(GPSP, "LLffBfbf", "Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),