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sdlog2:

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added separate replay messages for flow and range
This commit is contained in:
Roman
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent 4965926392
commit 37079dc743
2 changed files with 29 additions and 14 deletions
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src/modules/sdlog2/sdlog2.c
+19 -11
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@@ -1202,6 +1202,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_RPL2_s log_RPL2;
struct log_EST6_s log_INO3;
struct log_RPL3_s log_RPL3;
struct log_RPL4_s log_RPL4;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1485,17 +1486,24 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(RPL2);
}
log_msg.msg_type = LOG_RPL3_MSG;
log_msg.body.log_RPL3.time_rng_usec = buf.replay.rng_timestamp;
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
log_msg.body.log_RPL3.range_to_ground = buf.replay.range_to_ground;
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
LOGBUFFER_WRITE_AND_COUNT(RPL3);
if (buf.replay.flow_timestamp > 0) {
log_msg.msg_type = LOG_RPL3_MSG;
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
LOGBUFFER_WRITE_AND_COUNT(RPL3);
}
if (buf.replay.rng_timestamp > 0) {
log_msg.msg_type = LOG_RPL4_MSG;
log_msg.body.log_RPL4.time_rng_usec = buf.replay.rng_timestamp;
log_msg.body.log_RPL4.range_to_ground = buf.replay.range_to_ground;
LOGBUFFER_WRITE_AND_COUNT(RPL4);
}
}
/* --- ATTITUDE --- */