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Merge branch 'navigator_new' into navigator_new_vector, WIP

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This commit is contained in:
Anton Babushkin
2013-12-28 10:04:13 +04:00
parent 153114aec8 72d9c80ce9
commit 7b7539fbbd
77 changed files with 5914 additions and 1412 deletions
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src/modules/sdlog2/sdlog2.c
+19 -18
View File
@@ -72,7 +72,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
@@ -693,7 +693,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct vehicle_global_position_setpoint_s global_pos_sp;
struct mission_item_triplet_s triplet;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
@@ -718,7 +718,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int global_pos_sp_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
@@ -841,8 +841,8 @@ int sdlog2_thread_main(int argc, char *argv[])
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
fds[fdsc_count].fd = subs.global_pos_sp_sub;
subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
fds[fdsc_count].fd = subs.triplet_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -1165,20 +1165,21 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp);
orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet);
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative;
log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat;
log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon;
log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude;
log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw;
log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction;
log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd;
log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1;
log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2;
log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3;
log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4;
log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative;
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.altitude = buf.triplet.current.altitude;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.radius = buf.triplet.current.radius;
log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
src/modules/sdlog2/sdlog2_messages.h
+5 -6
View File
@@ -214,13 +214,12 @@ struct log_GPSP_s {
int32_t lon;
float altitude;
float yaw;
uint8_t nav_cmd;
float loiter_radius;
int8_t loiter_direction;
uint8_t nav_cmd;
float param1;
float param2;
float param3;
float param4;
float radius;
float time_inside;
float pitch_min;
};
/* --- ESC - ESC STATE --- */
@@ -298,7 +297,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitRad,LoitDir,Rad,TimeIn,pitMin"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),