From b513edffcd58c65d15bbeb19649c3b44837d3ca6 Mon Sep 17 00:00:00 2001 From: sander Date: Fri, 26 Feb 2016 22:51:11 +0100 Subject: [PATCH] Add vtol states to sdlog2 --- src/modules/sdlog2/sdlog2.c | 3 +++ src/modules/sdlog2/sdlog2_messages.h | 5 ++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index a733348fb8..d7286e478f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1347,6 +1347,9 @@ int sdlog2_thread_main(int argc, char *argv[]) if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) { log_msg.msg_type = LOG_VTOL_MSG; log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot; + log_msg.body.log_VTOL.rw_mode = (uint8_t) buf.vtol_status.vtol_in_rw_mode; + log_msg.body.log_VTOL.trans_mode = (uint8_t) buf.vtol_status.vtol_in_trans_mode; + log_msg.body.log_VTOL.failsafe_mode = (uint8_t) buf.vtol_status.vtol_transition_failsafe; LOGBUFFER_WRITE_AND_COUNT(VTOL); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a7e2960def..2e222ec6af 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -475,6 +475,9 @@ struct log_ENCD_s { #define LOG_VTOL_MSG 43 struct log_VTOL_s { float airspeed_tot; + uint8_t rw_mode; + uint8_t trans_mode; + uint8_t failsafe_mode; }; /* --- TIMESYNC - TIME SYNCHRONISATION OFFSET */ @@ -546,7 +549,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBfBBf", "MainState,ArmS,Failsafe,BatRem,BatWarn,Landed,Load"), - LOG_FORMAT(VTOL, "f", "Arsp"), + LOG_FORMAT(VTOL, "fBBB", "Arsp,RwMode,TransMode,Failsafe"), LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"), LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"), LOG_FORMAT_S(OUT0, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),