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Merged ETS airspeed driver

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Lorenz Meier
2013-05-09 15:58:23 +02:00
parent 3152dae3dc 5b60991c63
commit 614bbb1510
14 changed files with 1127 additions and 62 deletions
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src/modules/sdlog/sdlog.c
+19 -8
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@@ -71,6 +71,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h>
#include <systemlib/systemlib.h>
@@ -443,7 +444,8 @@ int sdlog_thread_main(int argc, char *argv[])
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct battery_status_s batt;
struct differential_pressure_s diff_pressure;
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -461,7 +463,8 @@ int sdlog_thread_main(int argc, char *argv[])
int vicon_pos_sub;
int flow_sub;
int batt_sub;
int diff_pressure_sub;
int diff_pres_sub;
int airspeed_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
@@ -558,11 +561,18 @@ int sdlog_thread_main(int argc, char *argv[])
/* --- DIFFERENTIAL PRESSURE --- */
/* subscribe to ORB for flow measurements */
subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
fds[fdsc_count].fd = subs.diff_pressure_sub;
subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
fds[fdsc_count].fd = subs.diff_pres_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
/* subscribe to ORB for airspeed */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@@ -654,7 +664,8 @@ int sdlog_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres);
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
/* if skipping is on or logging is disabled, ignore */
@@ -691,9 +702,9 @@ int sdlog_thread_main(int argc, char *argv[])
.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
.true_airspeed = buf.diff_pressure.true_airspeed_m_s
.diff_pressure = buf.diff_pres.differential_pressure_pa,
.ind_airspeed = buf.airspeed.indicated_airspeed_m_s,
.true_airspeed = buf.airspeed.true_airspeed_m_s
};
/* put into buffer for later IO */