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Merge branch 'master' into rc_timeout

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This commit is contained in:
Anton Babushkin
2014-04-06 14:47:31 +04:00
parent b00b70aeb2 be6c0d2ece
commit aa9ce7cd24
15 changed files with 346 additions and 59 deletions
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src/modules/sdlog2/sdlog2.c
+28
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@@ -84,6 +84,8 @@
#include <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -796,6 +798,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
struct estimator_status_report estimator_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -828,6 +832,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -859,6 +864,8 @@ int sdlog2_thread_main(int argc, char *argv[])
int telemetry_sub;
int range_finder_sub;
int estimator_status_sub;
int system_power_sub;
int servorail_status_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -884,6 +891,8 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
thread_running = true;
@@ -1185,6 +1194,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
@@ -1227,6 +1237,24 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* --- SYSTEM POWER RAILS --- */
if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
log_msg.msg_type = LOG_PWR_MSG;
log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
/* copy servo rail status topic here too */
orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v;
log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v;
LOGBUFFER_WRITE_AND_COUNT(PWR);
}
/* --- TELEMETRY --- */
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG;