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commander: internalize system status bools

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Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.

Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
This commit is contained in:
Julian Oes
2016-02-25 17:00:39 +00:00
parent 705979e3c7
commit 1f44fb1efd
18 changed files with 450 additions and 332 deletions
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src/modules/sdlog2/sdlog2.c
+14 -2
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2016 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
@@ -40,6 +40,7 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Ban Siesta <bansiesta@gmail.com>
* @author Julian Oes <julian@oes.ch>
*/
#include <px4_config.h>
@@ -112,6 +113,7 @@
#include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/ekf2_replay.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -1156,6 +1158,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct ekf2_innovations_s innovations;
struct camera_trigger_s camera_trigger;
struct ekf2_replay_s replay;
struct vehicle_land_detected_s land_detected;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -1213,6 +1216,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST6_s log_INO3;
struct log_RPL3_s log_RPL3;
struct log_RPL4_s log_RPL4;
struct log_LAND_s log_LAND;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1260,6 +1264,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int innov_sub;
int cam_trig_sub;
int replay_sub;
int land_detected_sub;
} subs;
subs.cmd_sub = -1;
@@ -1299,6 +1304,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.innov_sub = -1;
subs.cam_trig_sub = -1;
subs.replay_sub = -1;
subs.land_detected_sub = -1;
/* add new topics HERE */
@@ -1447,7 +1453,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.main_state = buf_status.main_state;
log_msg.body.log_STAT.arming_state = buf_status.arming_state;
log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
log_msg.body.log_STAT.load = buf_status.load;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
@@ -2135,6 +2140,13 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(CAMT);
}
/* --- LAND DETECTED --- */
if (copy_if_updated(ORB_ID(vehicle_land_detected), &subs.land_detected_sub, &buf.land_detected)) {
log_msg.msg_type = LOG_LAND_MSG;
log_msg.body.log_LAND.landed = buf.land_detected.landed;
LOGBUFFER_WRITE_AND_COUNT(CTS);
}
pthread_mutex_lock(&logbuffer_mutex);
/* signal the other thread new data, but not yet unlock */
src/modules/sdlog2/sdlog2_messages.h
+7 -2
View File
@@ -180,7 +180,6 @@ struct log_STAT_s {
uint8_t main_state;
uint8_t arming_state;
uint8_t failsafe;
uint8_t landed;
float load;
};
@@ -582,6 +581,11 @@ struct log_CAMT_s {
uint32_t seq;
};
#define LOG_LAND_MSG 56
struct log_LAND_s {
uint8_t landed;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -623,7 +627,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBf", "MainState,ArmS,Failsafe,Landed,Load"),
LOG_FORMAT(STAT, "BBBf", "MainState,ArmS,Failsafe,Load"),
LOG_FORMAT(VTOL, "fBBB", "Arsp,RwMode,TransMode,Failsafe"),
LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
@@ -666,6 +670,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(RPL2, "QQLLiMMfffffffM", "Tpos,Tvel,lat,lon,alt,fix,nsats,eph,epv,sacc,v,vN,vE,vD,v_val"),
LOG_FORMAT(RPL3, "QffffIB", "Tflow,fx,fy,gx,gy,delT,qual"),
LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
LOG_FORMAT(LAND, "B", "Landed"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
LOG_FORMAT(TIME, "Q", "StartTime"),