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Added VICON logging, finally.

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This commit is contained in:
Helen Oleynikova
2014-04-09 17:11:27 +02:00
parent 8e0e0c164a
commit 863cd2e838
2 changed files with 31 additions and 11 deletions
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src/modules/sdlog2/sdlog2.c
+19 -11
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@@ -226,11 +226,11 @@ sdlog2_usage(const char *reason)
}
errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
"\t-a\tLog only when armed (can be still overriden by command)\n"
"\t-t\tUse date/time for naming log directories and files\n");
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
"\t-a\tLog only when armed (can be still overriden by command)\n"
"\t-t\tUse date/time for naming log directories and files\n");
}
/**
@@ -257,11 +257,11 @@ int sdlog2_main(int argc, char *argv[])
main_thread_should_exit = false;
deamon_task = task_spawn_cmd("sdlog2",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
3000,
sdlog2_thread_main,
(const char **)argv);
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
3000,
sdlog2_thread_main,
(const char **)argv);
exit(0);
}
@@ -833,6 +833,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICON_s log_VICON;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1163,7 +1164,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- VICON POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
// TODO not implemented yet
log_msg.msg_type = LOG_VICON_MSG;
log_msg.body.log_VICON.x = buf.vicon_pos.x;
log_msg.body.log_VICON.y = buf.vicon_pos.y;
log_msg.body.log_VICON.z = buf.vicon_pos.z;
log_msg.body.log_VICON.pitch = buf.vicon_pos.pitch;
log_msg.body.log_VICON.roll = buf.vicon_pos.roll;
log_msg.body.log_VICON.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICON);
}
/* --- FLOW --- */