fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 00:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added global position to logging

Browse Source
This commit is contained in:
Lorenz Meier
2013-06-30 19:15:02 +02:00
parent 8191130bbc
commit aa04701c89
2 changed files with 21 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+9 -1
View File
@@ -685,6 +685,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
struct log_GPOS_s log_GPOS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1056,7 +1057,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
// TODO not implemented yet
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat;
log_msg.body.log_GPOS.lon = buf.global_pos.lon;
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
log_msg.body.log_GPOS.vel_n = buf.global_pos.vx;
log_msg.body.log_GPOS.vel_e = buf.global_pos.vy;
log_msg.body.log_GPOS.vel_d = buf.global_pos.vz;
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- VICON POSITION --- */