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Merge branch 'master' into sdlog2

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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
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src/modules/sdlog2/sdlog2.c
+18 -1
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@@ -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