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Tried to add ctrl debug values to sdlog2 (WIP)

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This commit is contained in:
Julian Oes
2013-06-16 14:59:00 +02:00
parent b52d561b11
commit bd7f86bb6a
3 changed files with 25 additions and 20 deletions
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src/modules/sdlog2/sdlog2.c
+14 -10
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@@ -91,6 +91,7 @@
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
printf("size: %d\n", LOG_PACKET_SIZE(_msg)); \
} else { \
log_msgs_skipped++; \
/*printf("skip\n");*/ \
@@ -1071,25 +1072,28 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- 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;
printf("copied control debug\n");
// 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_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_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;
LOGBUFFER_WRITE_AND_COUNT(CTRL);
}
/* --- FLOW --- */