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Merge branch 'master' of github.com:pixhawk/Firmware

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This commit is contained in:
Lorenz Meier
2012-11-09 16:03:07 +01:00
parent 0245d7be86 847ff7c5e2
commit 4338dd1e48
2 changed files with 243 additions and 168 deletions
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apps/sdlog/sdlog.c
+22 -17
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@@ -488,23 +488,25 @@ int sdlog_thread_main(int argc, char *argv[]) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
#pragma pack(push, 1)
struct {
uint64_t timestamp;
float gyro[3];
float accel[3];
float mag[3];
float baro;
float baro_alt;
float baro_temp;
float control[4];
float actuators[8];
float vbat;
float adc[3];
float local_pos[3];
int32_t gps_pos[3];
uint64_t timestamp; //[us]
float gyro[3]; //[rad/s]
float accel[3]; //[m/s^2]
float mag[3]; //[gauss]
float baro; //pressure [millibar]
float baro_alt; //altitude above MSL [meter]
float baro_temp; //[degree celcius]
float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512)
float vbat; //battery voltage in [volt]
float adc[3]; //remaining auxiliary ADC ports [volt]
float local_position[3]; //tangent plane mapping into x,y,z [m]
int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
float attitude[3]; //pitch, roll, yaw [rad]
float rotMatrix[9]; //unitvectors
} sysvector = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
@@ -518,14 +520,16 @@ int sdlog_thread_main(int argc, char *argv[]) {
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]},
.vbat = buf.raw.battery_voltage_v,
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
.local_pos = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_pos = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
.rotMatrix = {buf.att.R[1][1], buf.att.R[1][2], buf.att.R[1][3], buf.att.R[2][1], buf.att.R[2][2], buf.att.R[2][3], buf.att.R[3][1], buf.att.R[3][2], buf.att.R[3][3]}
};
#pragma pack(pop)
sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
usleep(10000);
usleep(10000); //10000 corresponds in reality to ca. 76 Hz
}
fsync(sysvector_file);
@@ -602,3 +606,4 @@ int file_copy(const char* file_old, const char* file_new)
return ret;
}