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Added ctrl debugging values

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This commit is contained in:
Julian Oes
2013-06-16 12:59:50 +02:00
parent 562253c508
commit b52d561b11
5 changed files with 170 additions and 5 deletions
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src/modules/sdlog2/sdlog2.c
+35 -1
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@@ -74,6 +74,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_control_debug.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -613,7 +614,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 16;
const ssize_t fdsc = 17;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -639,6 +640,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct vehicle_control_debug_s control_debug;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
@@ -661,6 +663,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int global_pos_sub;
int gps_pos_sub;
int vicon_pos_sub;
int control_debug_sub;
int flow_sub;
int rc_sub;
} subs;
@@ -680,6 +683,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT;
struct log_CTRL_s log_CTRL;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
} body;
@@ -773,6 +777,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- CONTROL DEBUG --- */
subs.control_debug_sub = orb_subscribe(ORB_ID(vehicle_control_debug));
fds[fdsc_count].fd = subs.control_debug_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- OPTICAL FLOW --- */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
@@ -1058,6 +1068,30 @@ int sdlog2_thread_main(int argc, char *argv[])
// TODO not implemented yet
}
/* --- CONTROL DEBUG --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p;
log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i;
log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d;
}
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);