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Merged sdlog_buffering branch

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Lorenz Meier
2013-01-10 14:43:59 +01:00
parent 1a107bd7bf 46cf2a538f
commit 1d4feb6905
67 changed files with 9568 additions and 315 deletions
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apps/uORB/objects_common.cpp
+6
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@@ -113,6 +113,12 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
#include "topics/optical_flow.h"
ORB_DEFINE(optical_flow, struct optical_flow_s);
#include "topics/omnidirectional_flow.h"
ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
#include "topics/differential_pressure.h"
ORB_DEFINE(differential_pressure, struct differential_pressure_s);
#include "topics/subsystem_info.h"
ORB_DEFINE(subsystem_info, struct subsystem_info_s);
apps/uORB/topics/differential_pressure.h
+70
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@@ -0,0 +1,70 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file differential_pressure.h
*
* Definition of differential pressure topic
*/
#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
#define TOPIC_DIFFERENTIAL_PRESSURE_H_
#include "../uORB.h"
#include <stdint.h>
/**
* @addtogroup topics
* @{
*/
/**
* Battery voltages and status
*/
struct differential_pressure_s {
uint64_t timestamp; /**< microseconds since system boot, needed to integrate */
float static_pressure_mbar; /**< Static / environment pressure */
float differential_pressure_mbar; /**< Differential pressure reading */
float temperature_celcius; /**< ambient temperature in celcius, -1 if unknown */
float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */
float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(differential_pressure);
#endif
apps/uORB/topics/omnidirectional_flow.h
+75
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@@ -0,0 +1,75 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file optical_flow.h
* Definition of the optical flow uORB topic.
*/
#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
/**
* Omnidirectional optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct omnidirectional_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint16_t left[10]; /**< Left flow, in decipixels */
uint16_t right[10]; /**< Right flow, in decipixels */
float front_distance_m; /**< Altitude / distance to object front in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
};
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(omnidirectional_flow);
#endif
apps/uORB/topics/optical_flow.h
+2 -7
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@@ -55,11 +55,6 @@
*/
struct optical_flow_s {
/*
* Actual data, this is specific to the type of data which is stored in this struct
* A line containing L0GME will be added by the Python logging code generator to the
* logged dataset.
*/
uint64_t timestamp; /**< in microseconds since system start */
uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
@@ -67,8 +62,8 @@ struct optical_flow_s {
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
};