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Log rate controller integrators (FW + MC)

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This commit is contained in:
Andreas Antener
2018-01-29 09:10:56 -05:00
committed by Daniel Agar
parent 3504ce8efe
commit 98441ac100
7 changed files with 41 additions and 63 deletions
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src/modules/sdlog2/sdlog2.c
+8 -8
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@@ -94,7 +94,7 @@
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/time_offset.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/rate_ctrl_status.h>
#include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/vehicle_land_detected.h>
@@ -1186,7 +1186,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct wind_estimate_s wind_estimate;
struct vtol_vehicle_status_s vtol_status;
struct time_offset_s time_offset;
struct mc_att_ctrl_status_s mc_att_ctrl_status;
struct rate_ctrl_status_s rate_ctrl_status;
struct ekf2_innovations_s innovations;
struct camera_trigger_s camera_trigger;
struct vehicle_land_detected_s land_detected;
@@ -1291,7 +1291,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int servorail_status_sub;
int wind_sub;
int tsync_sub;
int mc_att_ctrl_status_sub;
int rate_ctrl_status_sub;
int innov_sub;
int cam_trig_sub;
int land_detected_sub;
@@ -1333,7 +1333,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.servorail_status_sub = -1;
subs.wind_sub = -1;
subs.tsync_sub = -1;
subs.mc_att_ctrl_status_sub = -1;
subs.rate_ctrl_status_sub = -1;
subs.innov_sub = -1;
subs.cam_trig_sub = -1;
subs.land_detected_sub = -1;
@@ -2080,11 +2080,11 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), &subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
if (copy_if_updated(ORB_ID(rate_ctrl_status), &subs.rate_ctrl_status_sub, &buf.rate_ctrl_status)) {
log_msg.msg_type = LOG_MACS_MSG;
log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ;
log_msg.body.log_MACS.roll_rate_integ = buf.rate_ctrl_status.roll_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.rate_ctrl_status.pitch_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.rate_ctrl_status.yaw_integ;
LOGBUFFER_WRITE_AND_COUNT(MACS);
}
}