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distance_sensor: added distance_sensor to sdlog2

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This commit is contained in:
TSC21
2015-05-23 15:03:32 +01:00
parent 2e40338b93
commit 93f8d7c4e8
2 changed files with 17 additions and 14 deletions
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src/modules/sdlog2/sdlog2.c
+11 -10
View File
@@ -61,8 +61,6 @@
#include <math.h> #include <math.h>
#include <time.h> #include <time.h>
#include <drivers/drv_range_finder.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
@@ -92,6 +90,7 @@
#include <uORB/topics/rc_channels.h> #include <uORB/topics/rc_channels.h>
#include <uORB/topics/esc_status.h> #include <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h> #include <uORB/topics/telemetry_status.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_status.h> #include <uORB/topics/estimator_status.h>
#include <uORB/topics/tecs_status.h> #include <uORB/topics/tecs_status.h>
#include <uORB/topics/system_power.h> #include <uORB/topics/system_power.h>
@@ -1084,7 +1083,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_velocity_setpoint_s global_vel_sp; struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery; struct battery_status_s battery;
struct telemetry_status_s telemetry; struct telemetry_status_s telemetry;
struct range_finder_report range_finder; struct distance_sensor_s distance_sensor;
struct estimator_status_report estimator_status; struct estimator_status_report estimator_status;
struct tecs_status_s tecs_status; struct tecs_status_s tecs_status;
struct system_power_s system_power; struct system_power_s system_power;
@@ -1174,7 +1173,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int global_vel_sp_sub; int global_vel_sp_sub;
int battery_sub; int battery_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM]; int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int range_finder_sub; int distance_sensor_sub;
int estimator_status_sub; int estimator_status_sub;
int tecs_status_sub; int tecs_status_sub;
int system_power_sub; int system_power_sub;
@@ -1208,7 +1207,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.esc_sub = -1; subs.esc_sub = -1;
subs.global_vel_sp_sub = -1; subs.global_vel_sp_sub = -1;
subs.battery_sub = -1; subs.battery_sub = -1;
subs.range_finder_sub = -1; subs.distance_sensor_sub = -1;
subs.estimator_status_sub = -1; subs.estimator_status_sub = -1;
subs.tecs_status_sub = -1; subs.tecs_status_sub = -1;
subs.system_power_sub = -1; subs.system_power_sub = -1;
@@ -1820,12 +1819,14 @@ int sdlog2_thread_main(int argc, char *argv[])
} }
} }
/* --- BOTTOM DISTANCE --- */ /* --- DISTANCE SENSOR --- */
if (copy_if_updated(ORB_ID(sensor_range_finder), &subs.range_finder_sub, &buf.range_finder)) { if (copy_if_updated(ORB_ID(distance_sensor), &subs.distance_sensor_sub, &buf.distance_sensor)) {
log_msg.msg_type = LOG_DIST_MSG; log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.range_finder.distance; log_msg.body.log_DIST.id = buf.distance_sensor.id;
log_msg.body.log_DIST.bottom_rate = 0.0f; log_msg.body.log_DIST.type = buf.distance_sensor.type;
log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); log_msg.body.log_DIST.orientation = buf.distance_sensor.orientation;
log_msg.body.log_DIST.current_distance = buf.distance_sensor.current_distance;
log_msg.body.log_DIST.covariance = buf.distance_sensor.covariance;
LOGBUFFER_WRITE_AND_COUNT(DIST); LOGBUFFER_WRITE_AND_COUNT(DIST);
} }
src/modules/sdlog2/sdlog2_messages.h
+6 -4
View File
@@ -295,12 +295,14 @@ struct log_BATT_s {
float discharged; float discharged;
}; };
/* --- DIST - DISTANCE TO SURFACE --- */ /* --- DIST - RANGE SENSOR DISTANCE --- */
#define LOG_DIST_MSG 21 #define LOG_DIST_MSG 21
struct log_DIST_s { struct log_DIST_s {
float bottom; uint8_t id;
float bottom_rate; uint8_t type;
uint8_t flags; uint8_t orientation;
uint16_t current_distance;
uint8_t covariance;
}; };
/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */ /* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */