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Introduced new actuator_safety topic

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This commit is contained in:
Julian Oes
2013-06-14 13:53:26 +02:00
parent 236053a600
commit 90f5e30f2a
22 changed files with 424 additions and 193 deletions
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src/modules/sdlog2/sdlog2.c
+16 -7
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@@ -60,6 +60,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -190,7 +191,7 @@ static int file_copy(const char *file_old, const char *file_new);
static void handle_command(struct vehicle_command_s *cmd);
static void handle_status(struct vehicle_status_s *cmd);
static void handle_status(struct actuator_safety_s *safety);
/**
* Create folder for current logging session. Store folder name in 'log_folder'.
@@ -623,6 +624,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* warning! using union here to save memory, elements should be used separately! */
union {
struct actuator_safety_s safety;
struct vehicle_command_s cmd;
struct sensor_combined_s sensor;
struct vehicle_attitude_s att;
@@ -643,6 +645,7 @@ int sdlog2_thread_main(int argc, char *argv[])
memset(&buf, 0, sizeof(buf));
struct {
int safety_sub;
int cmd_sub;
int status_sub;
int sensor_sub;
@@ -690,6 +693,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SAFETY STATUS --- */
subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
fds[fdsc_count].fd = subs.safety_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VEHICLE STATUS --- */
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
fds[fdsc_count].fd = subs.status_sub;
@@ -826,6 +835,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int ifds = 0;
int handled_topics = 0;
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
@@ -838,7 +848,7 @@ int sdlog2_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (log_when_armed) {
handle_status(&buf_status);
handle_status(&buf.safety);
}
handled_topics++;
@@ -870,7 +880,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.flight_mode = 0;
log_msg.body.log_STAT.manual_control_mode = 0;
log_msg.body.log_STAT.manual_sas_mode = 0;
log_msg.body.log_STAT.armed = (unsigned char) buf_status.flag_fmu_armed; /* XXX fmu armed correct? */
log_msg.body.log_STAT.armed = (unsigned char) buf.safety.armed; /* XXX fmu armed correct? */
log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery;
log_msg.body.log_STAT.battery_current = buf_status.current_battery;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
@@ -1168,11 +1178,10 @@ void handle_command(struct vehicle_command_s *cmd)
}
}
void handle_status(struct vehicle_status_s *status)
void handle_status(struct actuator_safety_s *safety)
{
/* XXX fmu armed correct? */
if (status->flag_fmu_armed != flag_system_armed) {
flag_system_armed = status->flag_fmu_armed;
if (safety->armed != flag_system_armed) {
flag_system_armed = safety->armed;
if (flag_system_armed) {
sdlog2_start_log();