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log all raw diff pres and airspeed

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This commit is contained in:
Daniel Agar
2016-11-19 15:15:36 +01:00
committed by Lorenz Meier
parent 0fa79eab5c
commit 46a697787f
2 changed files with 35 additions and 10 deletions
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src/modules/sdlog2/sdlog2.c
+18 -4
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@@ -1283,6 +1283,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_LAND_s log_LAND;
struct log_RPL6_s log_RPL6;
struct log_LOAD_s log_LOAD;
struct log_DPRS_s log_DPRS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1332,6 +1333,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int land_detected_sub;
int commander_state_sub;
int cpuload_sub;
int diff_pres_sub;
} subs;
subs.cmd_sub = -1;
@@ -1374,6 +1376,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.land_detected_sub = -1;
subs.commander_state_sub = -1;
subs.cpuload_sub = -1;
subs.diff_pres_sub = -1;
/* add new topics HERE */
@@ -1723,8 +1726,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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;
log_msg.body.log_SENS.diff_pres = 0;
log_msg.body.log_SENS.diff_pres_filtered = 0;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
@@ -2039,12 +2040,25 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- AIRSPEED --- */
if (copy_if_updated(ORB_ID(airspeed), &subs.airspeed_sub, &buf.airspeed)) {
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
log_msg.body.log_AIRS.indicated_airspeed_m_s = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed_m_s = buf.airspeed.true_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed_unfiltered_m_s = buf.airspeed.true_airspeed_unfiltered_m_s;
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
log_msg.body.log_AIRS.confidence = buf.airspeed.confidence;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
/* --- DIFFERENTIAL PRESSURE --- */
if (copy_if_updated(ORB_ID(differential_pressure), &subs.diff_pres_sub, &buf.diff_pres)) {
log_msg.msg_type = LOG_DPRS_MSG;
log_msg.body.log_DPRS.error_count = buf.diff_pres.error_count;
log_msg.body.log_DPRS.differential_pressure_raw_pa = buf.diff_pres.differential_pressure_raw_pa;
log_msg.body.log_DPRS.differential_pressure_filtered_pa = buf.diff_pres.differential_pressure_filtered_pa;
log_msg.body.log_DPRS.max_differential_pressure_pa = buf.diff_pres.max_differential_pressure_pa;
log_msg.body.log_DPRS.temperature = buf.diff_pres.temperature;
LOGBUFFER_WRITE_AND_COUNT(DPRS);
}
/* --- ESCs --- */
if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) {
for (uint8_t i = 0; i < buf.esc.esc_count; i++) {