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sdlog: compute logging rate correctly

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Roman
2016-03-01 21:32:21 +01:00
parent 7d893703d7
commit 68e45057a0
1 changed files with 9 additions and 6 deletions
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src/modules/sdlog2/sdlog2.c
+9 -6
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@@ -918,8 +918,8 @@ int sdlog2_thread_main(int argc, char *argv[])
warnx("ERR: log stream, start mavlink app first");
}
/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
int32_t param_log_rate;
/* default log rate: 50 Hz */
int32_t log_rate = 50;
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
logging_enabled = false;
/* enable logging on start (-e option) */
@@ -946,11 +946,11 @@ int sdlog2_thread_main(int argc, char *argv[])
case 'r': {
unsigned long r = strtoul(myoptarg, NULL, 10);
if (r == 0) {
if (r <= 0) {
r = 1;
}
param_log_rate = r;
log_rate = r;
}
break;
@@ -1008,7 +1008,7 @@ int sdlog2_thread_main(int argc, char *argv[])
gps_time_sec = 0;
/* interpret logging params */
int32_t param_log_rate = -1;
param_t log_rate_ph = param_find("SDLOG_RATE");
if (log_rate_ph != PARAM_INVALID) {
@@ -1027,6 +1027,9 @@ int sdlog2_thread_main(int argc, char *argv[])
}
}
// if parameter was provided use it, if not use command line argument
log_rate = param_log_rate > -1 ? param_log_rate : log_rate;
param_t log_ext_ph = param_find("SDLOG_EXT");
if (log_ext_ph != PARAM_INVALID) {
@@ -1349,7 +1352,7 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[0].fd = subs.sensor_sub;
fds[0].events = POLLIN;
// TODO Remove hardcoded rate!
poll_to_logging_factor = 250 / (param_log_rate < 1 ? 1 : param_log_rate);
poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate);
}
if (poll_to_logging_factor < 1) {