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Fixed mavlink timestamps, fixed SD logger, ready for flight tests

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This commit is contained in:
Lorenz Meier
2012-09-13 23:35:20 +02:00
parent e20c2541c6
commit a294ee2b87
3 changed files with 105 additions and 37 deletions
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apps/mavlink/mavlink.c
+35 -26
View File
@@ -748,6 +748,13 @@ static void *uorb_receiveloop(void *arg)
*/
const int timeout = 1000;
/*
* Last sensor loop time
* some outputs are better timestamped
* with this "global" reference.
*/
uint64_t last_sensor_timestamp = 0;
while (!thread_should_exit) {
int poll_ret = poll(fds, fdsc_count, timeout);
@@ -767,8 +774,10 @@ static void *uorb_receiveloop(void *arg)
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &buf.raw);
last_sensor_timestamp = buf.raw.timestamp;
/* send raw imu data */
mavlink_msg_raw_imu_send(MAVLINK_COMM_0, buf.raw.timestamp, buf.raw.accelerometer_raw[0],
mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.raw.accelerometer_raw[0],
buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0],
buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0],
buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
@@ -804,7 +813,7 @@ static void *uorb_receiveloop(void *arg)
baro_counter = buf.raw.baro_counter;
}
mavlink_msg_highres_imu_send(MAVLINK_COMM_0, buf.raw.timestamp,
mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1],
buf.raw.accelerometer_m_s2[2], buf.raw.gyro_rad_s[0],
buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2],
@@ -826,7 +835,7 @@ static void *uorb_receiveloop(void *arg)
orb_copy(ORB_ID(vehicle_attitude), subs->att_sub, &buf.att);
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0, buf.att.timestamp / 1000, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed);
mavlink_msg_attitude_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed);
attitude_counter++;
}
@@ -933,17 +942,17 @@ static void *uorb_receiveloop(void *arg)
/* HIL message as per MAVLink spec */
mavlink_msg_hil_controls_send(chan,
hrt_absolute_time(),
buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */
buf.att_sp.pitch_body,
buf.att_sp.yaw_body,
buf.att_sp.thrust,
0,
0,
0,
0,
mavlink_mode,
0);
hrt_absolute_time(),
buf.att_sp.roll_body, /* this may be replaced by ctrl0 later */
buf.att_sp.pitch_body,
buf.att_sp.yaw_body,
buf.att_sp.thrust,
0,
0,
0,
0,
mavlink_mode,
0);
}
}
@@ -951,7 +960,7 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs->act_0_sub, &buf.act_outputs);
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
0 /* port 0 */,
buf.act_outputs.output[0],
buf.act_outputs.output[1],
@@ -979,7 +988,7 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_1), subs->act_1_sub, &buf.act_outputs);
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 2 : 1 /* port 2 or 1*/,
buf.act_outputs.output[0],
buf.act_outputs.output[1],
@@ -990,7 +999,7 @@ static void *uorb_receiveloop(void *arg)
buf.act_outputs.output[6],
buf.act_outputs.output[7]);
if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
3 /* port 3 */,
buf.act_outputs.output[ 8],
buf.act_outputs.output[ 9],
@@ -1007,7 +1016,7 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_2), subs->act_2_sub, &buf.act_outputs);
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 4 : 2 /* port 4 or 2 */,
buf.act_outputs.output[0],
buf.act_outputs.output[1],
@@ -1018,7 +1027,7 @@ static void *uorb_receiveloop(void *arg)
buf.act_outputs.output[6],
buf.act_outputs.output[7]);
if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
5 /* port 5 */,
buf.act_outputs.output[ 8],
buf.act_outputs.output[ 9],
@@ -1035,7 +1044,7 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_3), subs->act_3_sub, &buf.act_outputs);
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 6 : 3 /* port 6 or 3 */,
buf.act_outputs.output[0],
buf.act_outputs.output[1],
@@ -1046,7 +1055,7 @@ static void *uorb_receiveloop(void *arg)
buf.act_outputs.output[6],
buf.act_outputs.output[7]);
if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
7 /* port 7 */,
buf.act_outputs.output[ 8],
buf.act_outputs.output[ 9],
@@ -1075,16 +1084,16 @@ static void *uorb_receiveloop(void *arg)
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
/* send, add spaces so that string buffer is at least 10 chars long */
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl0 ", buf.actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl1 ", buf.actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl2 ", buf.actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, "ctrl3 ", buf.actuators.control[3]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl0 ", buf.actuators.control[0]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl1 ", buf.actuators.control[1]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl2 ", buf.actuators.control[2]);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl3 ", buf.actuators.control[3]);
}
/* --- DEBUG KEY/VALUE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, hrt_absolute_time() / 1000, buf.debug.key, buf.debug.value);
mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.debug.key, buf.debug.value);
}
}
}
apps/sdlog/Makefile
+1 -1
View File
@@ -36,7 +36,7 @@
#
APPNAME = sdlog
PRIORITY = SCHED_PRIORITY_DEFAULT - 1
PRIORITY = SCHED_PRIORITY_DEFAULT - 30
STACKSIZE = 2048
include $(APPDIR)/mk/app.mk
apps/sdlog/sdlog.c
+69 -10
View File
@@ -50,6 +50,8 @@
#include <stdlib.h>
#include <string.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <arch/board/up_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
@@ -57,6 +59,7 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_command.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@@ -117,12 +120,15 @@ int sdlog_main(int argc, char *argv[])
}
thread_should_exit = false;
deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 10, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
deamon_task = task_create("sdlog", SCHED_PRIORITY_DEFAULT - 30, 4096, sdlog_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
printf("\tsdlog is not started\n");
}
thread_should_exit = true;
exit(0);
}
@@ -190,17 +196,31 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* create sensorfile */
int sensorfile;
unsigned sensor_combined_bytes = 0;
int actuator_outputs_file;
unsigned actuator_outputs_bytes = 0;
FILE *gpsfile;
unsigned blackbox_file_bytes = 0;
FILE *blackbox_file;
// FILE *vehiclefile;
char path_buf[64] = ""; // string to hold the path to the sensorfile
printf("[sdlog] logging to directory %s\n", folder_path);
/* set up file path: e.g. /mnt/sdcard/session0001/sensors_combined.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "sensors_combined");
if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
errx(1, "opening %s failed.\n", path_buf);
}
int actuator_outputs_file_no = actuator_outputs_file;
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
if (NULL == (gpsfile = fopen(path_buf, "w"))) {
@@ -208,6 +228,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
}
int gpsfile_no = fileno(gpsfile);
/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
errx(1, "opening %s failed.\n", path_buf);
}
int blackbox_file_no = fileno(blackbox_file);
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
@@ -223,9 +250,11 @@ int sdlog_thread_main(int argc, char *argv[]) {
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s actuators;
struct vehicle_command_s cmd;
} buf;
struct {
int cmd_sub;
int sensor_sub;
int att_sub;
int spa_sub;
@@ -233,6 +262,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
int actuators_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
/* subscribe to ORB for sensors raw */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS RAW VALUE --- */
/* subscribe to ORB for sensors raw */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -243,7 +279,6 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* --- ATTITUDE VALUE --- */
/* subscribe to ORB for attitude */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
orb_set_interval(subs.att_sub, 100);
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -252,7 +287,6 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* subscribe to ORB for attitude setpoint */
/* struct already allocated */
subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
orb_set_interval(subs.spa_sub, 2000); /* 0.5 Hz updates */
fds[fdsc_count].fd = subs.spa_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -287,6 +321,10 @@ int sdlog_thread_main(int argc, char *argv[]) {
thread_running = true;
int poll_count = 0;
uint64_t starttime = hrt_absolute_time();
while (!thread_should_exit) {
int poll_ret = poll(fds, fdsc_count, timeout);
@@ -300,13 +338,29 @@ int sdlog_thread_main(int argc, char *argv[]) {
int ifds = 0;
if (poll_count % 2000 == 0) {
fsync(sensorfile);
fsync(actuator_outputs_file_no);
fsync(blackbox_file_no);
}
poll_count++;
/* --- VEHICLE COMMAND VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy command into local buffer */
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f-%f-%f-%f-%f-%f-%f]\n", hrt_absolute_time()/1000000.0d,
buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
}
/* --- SENSORS RAW VALUE --- */
if (fds[ifds++].revents & POLLIN) {
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
/* write out */
write(sensorfile, (const char*)&buf.raw, sizeof(buf.raw));
sensor_combined_bytes += write(sensorfile, (const char*)&buf.raw, sizeof(buf.raw));
}
/* --- ATTITUDE VALUE --- */
@@ -329,7 +383,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
if (fds[ifds++].revents & POLLIN) {
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
/* write out */
actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.raw, sizeof(buf.raw));
}
/* --- ACTUATOR CONTROL --- */
@@ -337,17 +392,21 @@ int sdlog_thread_main(int argc, char *argv[]) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.actuators_sub, &buf.actuators);
}
/* enforce write to disk */
fsync(sensorfile);
fsync(gpsfile_no);
}
}
warn("exiting.");
unsigned bytes = sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes;
float mebibytes = bytes / 1024.0f / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
printf("[sdlog] wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
printf("[sdlog] exiting.\n");
close(sensorfile);
close(gpsfile);
fclose(gpsfile);
fclose(blackbox_file);
thread_running = false;