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replaced optical_flow mavlink message with optical_flow_rad, added gyro_temperature, adapted sd2log for px4flow integral frame

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dominiho
2014-10-30 16:39:02 +01:00
parent aba77d062f
commit 9f64953bb9
8 changed files with 80 additions and 56 deletions
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src/modules/sdlog2/sdlog2.c
+8 -5
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@@ -1507,11 +1507,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature;
log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral;
log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral;
log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral;
log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan;
log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral;
log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral;
log_msg.body.log_FLOW.quality = buf.flow.quality;
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
LOGBUFFER_WRITE_AND_COUNT(FLOW);