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move baro and magnetometer data out of sensor_combined

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This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
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src/modules/sdlog2/sdlog2.c
+19 -19
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@@ -1357,8 +1357,8 @@ int sdlog2_thread_main(int argc, char *argv[])
/* track changes in sensor_combined topic */
hrt_abstime gyro_timestamp = 0;
hrt_abstime accelerometer_timestamp = 0;
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
//hrt_abstime magnetometer_timestamp = 0;
//hrt_abstime barometer_timestamp = 0;
/* initialize calculated mean SNR */
float snr_mean = 0.0f;
@@ -1526,15 +1526,15 @@ int sdlog2_thread_main(int argc, char *argv[])
write_IMU = true;
}
if (buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative;
write_IMU = true;
}
// if (buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative != magnetometer_timestamp) {
// magnetometer_timestamp = buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative;
// write_IMU = true;
// }
if (buf.sensor.timestamp + buf.sensor.baro_timestamp_relative != barometer_timestamp) {
barometer_timestamp = buf.sensor.timestamp + buf.sensor.baro_timestamp_relative;
write_SENS = true;
}
// if (buf.sensor.timestamp + buf.sensor.baro_timestamp_relative != barometer_timestamp) {
// barometer_timestamp = buf.sensor.timestamp + buf.sensor.baro_timestamp_relative;
// write_SENS = true;
// }
if (write_IMU) {
log_msg.msg_type = LOG_IMU_MSG;
@@ -1545,9 +1545,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
// log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
// log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
// log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
log_msg.body.log_IMU.temp_gyro = 0;
log_msg.body.log_IMU.temp_acc = 0;
log_msg.body.log_IMU.temp_mag = 0;
@@ -1555,12 +1555,12 @@ int sdlog2_thread_main(int argc, char *argv[])
}
if (write_SENS) {
log_msg.msg_type = LOG_SENS_MSG;
log_msg.body.log_SENS.baro_pres = 0;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
LOGBUFFER_WRITE_AND_COUNT(SENS);
// log_msg.msg_type = LOG_SENS_MSG;
//
// log_msg.body.log_SENS.baro_pres = 0;
// log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
// log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
// LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}