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sdlog2: Add external vision data to ekf2 replay

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Put struct definitions in enum order
Fix duplicate enum value
Add ekf2 replay message for external vision data
This commit is contained in:
Paul Riseborough
2016-05-28 14:54:14 +02:00
committed by Lorenz Meier
parent fc4d5ddb67
commit 2e127a4737
2 changed files with 68 additions and 34 deletions
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src/modules/sdlog2/sdlog2.c
+17 -1
View File
@@ -1251,8 +1251,9 @@ 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_RPL6_s log_RPL6;
struct log_RPL5_s log_RPL5;
struct log_LAND_s log_LAND;
struct log_RPL6_s log_RPL6;
struct log_LOAD_s log_LOAD;
} body;
} log_msg = {
@@ -1605,6 +1606,21 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_RPL6.confidence = buf.replay.confidence;
LOGBUFFER_WRITE_AND_COUNT(RPL6);
}
if (buf.replay.ev_timestamp > 0) {
log_msg.msg_type = LOG_RPL5_MSG;
log_msg.body.log_RPL5.time_ev_usec = buf.replay.ev_timestamp;
log_msg.body.log_RPL5.x = buf.replay.pos_ev[0];
log_msg.body.log_RPL5.y = buf.replay.pos_ev[1];
log_msg.body.log_RPL5.z = buf.replay.pos_ev[2];
log_msg.body.log_RPL5.q0 = buf.replay.quat_ev[0];
log_msg.body.log_RPL5.q1 = buf.replay.quat_ev[1];
log_msg.body.log_RPL5.q2 = buf.replay.quat_ev[2];
log_msg.body.log_RPL5.q3 = buf.replay.quat_ev[3];
log_msg.body.log_RPL5.pos_err = buf.replay.pos_err;
log_msg.body.log_RPL5.ang_err = buf.replay.ang_err;
LOGBUFFER_WRITE_AND_COUNT(RPL5);
}
}
}
src/modules/sdlog2/sdlog2_messages.h
+51 -33
View File
@@ -420,24 +420,6 @@ struct log_EST3_s {
float cov[16];
};
/* --- EST4 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST4_MSG 48
struct log_EST4_s {
float s[12];
};
/* --- EST5 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST5_MSG 49
struct log_EST5_s {
float s[10];
};
/* --- EST6 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST6_MSG 53
struct log_EST6_s {
float s[6];
};
/* --- TEL0..3 - TELEMETRY STATUS --- */
#define LOG_TEL0_MSG 36
#define LOG_TEL1_MSG 37
@@ -518,6 +500,18 @@ struct log_CTS_s {
float yaw_rate;
};
/* --- EST4 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST4_MSG 48
struct log_EST4_s {
float s[12];
};
/* --- EST5 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST5_MSG 49
struct log_EST5_s {
float s[10];
};
#define LOG_OUT1_MSG 50
/* --- EKF2 REPLAY Part 1 --- */
@@ -558,6 +552,13 @@ struct log_RPL2_s {
float vel_d_m_s;
bool vel_ned_valid;
};
/* --- EST6 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST6_MSG 53
struct log_EST6_s {
float s[6];
};
/* --- EKF2 REPLAY Part 3 --- */
#define LOG_RPL3_MSG 54
struct log_RPL3_s {
@@ -570,6 +571,13 @@ struct log_RPL3_s {
uint8_t flow_quality;
};
/* --- CAMERA TRIGGER --- */
#define LOG_CAMT_MSG 55
struct log_CAMT_s {
uint64_t timestamp;
uint32_t seq;
};
/* --- EKF2 REPLAY Part 4 --- */
#define LOG_RPL4_MSG 56
struct log_RPL4_s {
@@ -577,7 +585,16 @@ struct log_RPL4_s {
float range_to_ground;
};
/* --- EKF2 REPLAY Part 4 --- */
/* --- LAND DETECTOR --- */
#define LOG_LAND_MSG 57
struct log_LAND_s {
uint8_t landed;
};
/* 58 used for DGPS message
shares struct with GPS MSG 8*/
/* --- EKF2 REPLAY Part 6 --- */
#define LOG_RPL6_MSG 59
struct log_RPL6_s {
uint64_t time_airs_usec;
@@ -588,23 +605,23 @@ struct log_RPL6_s {
float confidence;
};
/* --- CAMERA TRIGGER --- */
#define LOG_CAMT_MSG 55
struct log_CAMT_s {
uint64_t timestamp;
uint32_t seq;
};
/* --- LAND DETECTOR --- */
#define LOG_LAND_MSG 57
struct log_LAND_s {
uint8_t landed;
/* --- EKF2 REPLAY Part 5 --- */
#define LOG_RPL5_MSG 60
struct log_RPL5_s {
uint64_t time_ev_usec;
float x;
float y;
float z;
float q0;
float q1;
float q2;
float q3;
float pos_err;
float ang_err;
};
/* --- SYSTEM LOAD --- */
#define LOG_LOAD_MSG 58
#define LOG_LOAD_MSG 61
struct log_LOAD_s {
float cpu_load;
};
@@ -694,6 +711,7 @@ 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(RPL5, "Qfffffffff", "Tev,x,y,z,q0,q1,q2,q3,posErr,angErr"),
LOG_FORMAT(RPL6, "Qfffff", "Tasp,inAsp,trAsp,ufAsp,tpAsp,confAsp"),
LOG_FORMAT(LAND, "B", "Landed"),
LOG_FORMAT(LOAD, "f", "CPU"),