fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 16:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'master' into sdlog2

Browse Source
This commit is contained in:
Anton Babushkin
2013-06-17 14:44:45 +04:00
parent 138ce117ab badaa5e4a2
commit 22a925adeb
21 changed files with 2294 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+18 -1
View File
@@ -241,7 +241,7 @@ int sdlog2_main(int argc, char *argv[])
deamon_task = task_spawn("sdlog2",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
2048,
3000,
sdlog2_thread_main,
(const char **)argv);
exit(0);
@@ -661,6 +661,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
} subs;
/* log message buffer: header + body */
@@ -680,6 +681,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
} body;
} log_msg = {
@@ -784,6 +786,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@@ -1070,6 +1078,15 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(RC);
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
#ifdef SDLOG2_DEBUG
src/modules/sdlog2/sdlog2_messages.h
+8
View File
@@ -172,6 +172,13 @@ struct log_OUT0_s {
float output[8];
};
/* --- AIRS - AIRSPEED --- */
#define LOG_AIRS_MSG 13
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
#define LOG_ARSP_MSG 13
struct log_ARSP_s {
@@ -196,6 +203,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
};