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Merge branch 'sdlog2_GPSP' into seatbelt_multirotor

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Anton Babushkin
2013-07-12 10:11:08 +04:00
parent c51c211bba 1d986d6c04
commit babbcea3b6
4 changed files with 63 additions and 16 deletions
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src/modules/sdlog2/sdlog2.c
+30 -1
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@@ -72,6 +72,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/optical_flow.h>
@@ -615,7 +616,7 @@ 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 = 18;
const ssize_t fdsc = 19;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -637,6 +638,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct vehicle_global_position_setpoint_s global_pos_sp;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
@@ -660,6 +662,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int global_pos_sp_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
@@ -689,6 +692,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
struct log_GPOS_s log_GPOS;
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
} body;
} log_msg = {
@@ -775,6 +779,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
fds[fdsc_count].fd = subs.global_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
@@ -1077,6 +1087,25 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp);
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative;
log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat;
log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon;
log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude;
log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw;
log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction;
log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd;
log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1;
log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2;
log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3;
log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);