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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
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@@ -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;