fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 19:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

sdlog2 update for generated topics

Browse Source
This commit is contained in:
Lorenz Meier
2015-08-10 15:36:24 +02:00
parent 3ff8afb6ba
commit b3c1d56926
1 changed files with 11 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+11 -5
View File
@@ -229,6 +229,7 @@ static void *logwriter_thread(void *arg);
__EXPORT int sdlog2_main(int argc, char *argv[]);
static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer);
static bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer);
/**
* Mainloop of sd log deamon.
@@ -844,11 +845,16 @@ int write_parameters(int fd)
}
bool copy_if_updated(orb_id_t topic, int *handle, void *buffer)
{
return copy_if_updated_multi(topic, 0, handle, buffer);
}
bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer)
{
bool updated = false;
if (*handle < 0) {
if (OK == orb_exists(topic, 0)) {
if (OK == orb_exists(topic, multi_instance)) {
*handle = orb_subscribe(topic);
/* copy first data */
if (*handle >= 0) {
@@ -1175,7 +1181,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
int distance_sensor_sub;
int estimator_status_sub;
int tecs_status_sub;
@@ -1223,7 +1229,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* add new topics HERE */
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
subs.telemetry_subs[i] = -1;
}
@@ -1808,8 +1814,8 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
for (unsigned i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
if (copy_if_updated(telemetry_status_orb_id[i], &subs.telemetry_subs[i], &buf.telemetry)) {
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
if (copy_if_updated_multi(ORB_ID(telemetry_status), i, &subs.telemetry_subs[i], &buf.telemetry)) {
log_msg.msg_type = LOG_TEL0_MSG + i;
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;