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add logging for gpos terrain alt

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This commit is contained in:
Thomas Gubler
2014-09-01 10:42:56 +02:00
parent 0f548ab88c
commit 1f951b0df9
2 changed files with 8 additions and 2 deletions
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src/modules/sdlog2/sdlog2.c
+6 -1
View File
@@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
log_msg.body.log_GPOS.eph = buf.global_pos.eph;
log_msg.body.log_GPOS.epv = buf.global_pos.epv;
if (buf.global_pos.terrain_alt_valid) {
log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt;
} else {
log_msg.body.log_GPOS.terrain_alt = -1.0f;
}
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
@@ -1464,7 +1469,7 @@ 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;
src/modules/sdlog2/sdlog2_messages.h
+2 -1
View File
@@ -220,6 +220,7 @@ struct log_GPOS_s {
float vel_d;
float eph;
float epv;
float terrain_alt;
};
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
@@ -449,7 +450,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),