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Merge branch 'master' into autostart_cleanup

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This commit is contained in:
Anton Babushkin
2014-01-14 15:52:46 +01:00
parent 1008d0c383 b529e112b8
commit 7b60761bf5
27 changed files with 865 additions and 189 deletions
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src/modules/sdlog2/sdlog2.c
+24 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <anton.babushkin@me.com>
*
@@ -702,6 +702,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct airspeed_s airspeed;
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -726,6 +727,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
} subs;
/* log message buffer: header + body */
@@ -752,6 +754,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -760,9 +763,9 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of subscriptions */
const ssize_t fdsc = 19;
/* sanity check variable and index */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
@@ -881,6 +884,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY --- */
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.battery_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.
@@ -971,8 +980,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
log_msg.body.log_STAT.battery_current = buf_status.battery_current;
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;
@@ -1238,6 +1245,17 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GVSP);
}
/* --- BATTERY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
log_msg.body.log_BATT.current = buf.battery.current_a;
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */