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sdlog2: ATTC - vehicle attitude control logging added

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This commit is contained in:
Anton Babushkin
2013-06-06 23:19:16 +04:00
parent aedacc7bc8
commit 4052652a28
2 changed files with 17 additions and 1 deletions
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src/modules/sdlog2/sdlog2.c
+7 -1
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@@ -652,6 +652,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -930,7 +931,12 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls);
// TODO not implemented yet
log_msg.msg_type = LOG_ATTC_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- ACTUATOR CONTROL EFFECTIVE --- */