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sdlog2: DIST (distance to surface) message added

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This commit is contained in:
Anton Babushkin
2013-10-13 19:45:04 +02:00
parent 5d556f1850
commit 419cb4bc80
2 changed files with 26 additions and 6 deletions
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src/modules/sdlog2/sdlog2.c
+15 -2
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@@ -668,6 +668,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
struct log_DIST_s log_DIST;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -831,6 +832,9 @@ int sdlog2_thread_main(int argc, char *argv[])
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
/* track changes in distance status */
bool dist_bottom_present = false;
/* enable logging on start if needed */
if (log_on_start)
sdlog2_start_log();
@@ -1046,12 +1050,21 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.dist_bottom = buf.local_pos.dist_bottom;
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
if (buf.local_pos.dist_bottom_valid) {
dist_bottom_present = true;
}
if (dist_bottom_present) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(DIST);
}
}
/* --- LOCAL POSITION SETPOINT --- */