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Merged upstream master into gnss_rework branch

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Kynos
2014-06-30 01:34:12 +02:00
parent f1a5be1f57 28a31708f9
commit 503ebddc1b
112 changed files with 10206 additions and 4155 deletions
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src/modules/sdlog2/sdlog2.c
+64 -14
View File
@@ -85,8 +85,10 @@
#include <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/wind_estimate.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -942,9 +944,11 @@ int sdlog2_thread_main(int argc, char *argv[])
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
struct estimator_status_report estimator_status;
struct tecs_status_s tecs_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
struct satellite_info_s sat_info;
struct wind_estimate_s wind_estimate;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -976,13 +980,16 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
struct log_GS1B_s log_GS1B;
struct log_TECS_s log_TECS;
struct log_WIND_s log_WIND;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1015,8 +1022,10 @@ int sdlog2_thread_main(int argc, char *argv[])
int telemetry_sub;
int range_finder_sub;
int estimator_status_sub;
int tecs_status_sub;
int system_power_sub;
int servorail_status_sub;
int wind_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1043,8 +1052,12 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
/* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90);
thread_running = true;
@@ -1114,7 +1127,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state;
log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@@ -1127,8 +1140,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
log_msg.body.log_GPS.eph = buf_gps_pos.eph;
log_msg.body.log_GPS.epv = buf_gps_pos.epv;
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
@@ -1352,7 +1365,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.nav_state = 0; /* TODO: Fix this */
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
@@ -1489,15 +1502,52 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ESTIMATOR STATUS --- */
if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
log_msg.msg_type = LOG_ESTM_MSG;
unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
LOGBUFFER_WRITE_AND_COUNT(ESTM);
log_msg.msg_type = LOG_EST0_MSG;
unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
LOGBUFFER_WRITE_AND_COUNT(EST0);
log_msg.msg_type = LOG_EST1_MSG;
unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
LOGBUFFER_WRITE_AND_COUNT(EST1);
}
/* --- TECS STATUS --- */
if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
log_msg.msg_type = LOG_TECS_MSG;
log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed;
log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered;
log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
LOGBUFFER_WRITE_AND_COUNT(TECS);
}
/* --- WIND ESTIMATE --- */
if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) {
log_msg.msg_type = LOG_WIND_MSG;
log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
LOGBUFFER_WRITE_AND_COUNT(WIND);
}
/* signal the other thread new data, but not yet unlock */
src/modules/sdlog2/sdlog2_messages.h
+52 -10
View File
@@ -288,15 +288,7 @@ struct log_TELE_s {
uint8_t txbuf;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 23
struct log_ESTM_s {
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
// ID 23 available
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
@@ -346,6 +338,53 @@ struct log_GS1B_s {
uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
};
/* --- TECS - TECS STATUS --- */
#define LOG_TECS_MSG 30
struct log_TECS_s {
float altitudeSp;
float altitude;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeed;
float airspeedFiltered;
float airspeedDerivativeSp;
float airspeedDerivative;
float totalEnergyRateSp;
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
uint8_t mode;
};
/* --- WIND - WIND ESTIMATE --- */
#define LOG_WIND_MSG 31
struct log_WIND_s {
float x;
float y;
float cov_x;
float cov_y;
};
/* --- EST0 - ESTIMATOR STATUS --- */
#define LOG_EST0_MSG 32
struct log_EST0_s {
float s[12];
uint8_t n_states;
uint8_t nan_flags;
uint8_t health_flags;
uint8_t timeout_flags;
};
/* --- EST1 - ESTIMATOR STATUS --- */
#define LOG_EST1_MSG 33
struct log_EST1_s {
float s[16];
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -394,13 +433,16 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "ffffffffffffffB", "AltSP,Alt,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */