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Removed stupid sensor counter, replaced it with much more useful timestamps

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Lorenz Meier
2014-03-16 13:47:26 +01:00
parent eccbccb826
commit 717e1bd374
6 changed files with 43 additions and 51 deletions
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src/modules/sdlog2/sdlog2.c
+16 -15
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@@ -887,11 +887,11 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
uint16_t gyro_counter = 0;
uint16_t accelerometer_counter = 0;
uint16_t magnetometer_counter = 0;
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
hrt_abstime gyro_timestamp = 0;
hrt_abstime accelerometer_timestamp = 0;
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
/* track changes in distance status */
bool dist_bottom_present = false;
@@ -976,28 +976,28 @@ int sdlog2_thread_main(int argc, char *argv[])
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.gyro_counter != gyro_counter) {
gyro_counter = buf.sensor.gyro_counter;
if (buf.sensor.timestamp != gyro_timestamp) {
gyro_timestamp = buf.sensor.timestamp;
write_IMU = true;
}
if (buf.sensor.accelerometer_counter != accelerometer_counter) {
accelerometer_counter = buf.sensor.accelerometer_counter;
if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
write_IMU = true;
}
if (buf.sensor.magnetometer_counter != magnetometer_counter) {
magnetometer_counter = buf.sensor.magnetometer_counter;
if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
write_IMU = true;
}
if (buf.sensor.baro_counter != baro_counter) {
baro_counter = buf.sensor.baro_counter;
if (buf.sensor.baro_timestamp != barometer_timestamp) {
barometer_timestamp = buf.sensor.baro_timestamp;
write_SENS = true;
}
if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
differential_pressure_counter = buf.sensor.differential_pressure_counter;
if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
write_SENS = true;
}
@@ -1023,6 +1023,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
/* --- ATTITUDE --- */