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sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message

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Anton Babushkin
2013-06-13 06:51:09 +04:00
parent f8f83d5896
commit 95236c379a
2 changed files with 37 additions and 2 deletions
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src/modules/sdlog2/sdlog2.c
+24 -1
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@@ -64,6 +64,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
@@ -612,7 +613,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 15;
const ssize_t fdsc = 16;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -627,6 +628,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct sensor_combined_s sensor;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
@@ -648,6 +650,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int act_controls_effective_sub;
@@ -677,6 +680,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_ARSP_s log_ARSP;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -720,6 +724,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RATES SETPOINT --- */
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
fds[fdsc_count].fd = subs.rates_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub;
@@ -953,6 +963,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
log_msg.body.log_ATT.yaw = buf.att.yaw;
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
@@ -966,6 +979,16 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(ATSP);
}
/* --- RATES SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
log_msg.msg_type = LOG_ARSP_MSG;
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
LOGBUFFER_WRITE_AND_COUNT(ARSP);
}
/* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);