From c2aaeefa6c42838f1234a4389767a2f17d5be02c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 1 Jan 2016 13:18:54 +0100 Subject: [PATCH] sdlog2: Log actuator output group 1 as well --- src/modules/sdlog2/sdlog2.c | 14 +++++++++++--- src/modules/sdlog2/sdlog2_messages.h | 11 +++++++---- 2 files changed, 18 insertions(+), 7 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 858d6af1ae..e5f1b7480f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1118,7 +1118,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_STAT_s log_STAT; struct log_VTOL_s log_VTOL; struct log_RC_s log_RC; - struct log_OUT0_s log_OUT0; + struct log_OUT_s log_OUT; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; @@ -1164,6 +1164,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int att_sp_sub; int rates_sp_sub; int act_outputs_sub; + int act_outputs_1_sub; int act_controls_sub; int act_controls_1_sub; int local_pos_sub; @@ -1203,6 +1204,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.att_sp_sub = -1; subs.rates_sp_sub = -1; subs.act_outputs_sub = -1; + subs.act_outputs_1_sub = -1; subs.act_controls_sub = -1; subs.act_controls_1_sub = -1; subs.local_pos_sub = -1; @@ -1532,8 +1534,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- ACTUATOR OUTPUTS --- */ if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_sub, &buf.act_outputs)) { log_msg.msg_type = LOG_OUT0_MSG; - memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); - LOGBUFFER_WRITE_AND_COUNT(OUT0); + memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output)); + LOGBUFFER_WRITE_AND_COUNT(OUT); + } + + if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_1_sub, &buf.act_outputs)) { + log_msg.msg_type = LOG_OUT1_MSG; + memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output)); + LOGBUFFER_WRITE_AND_COUNT(OUT); } /* --- ACTUATOR CONTROL --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index fc256fe9d9..a7e2960def 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -195,9 +195,9 @@ struct log_RC_s { uint32_t frame_drop; }; -/* --- OUT0 - ACTUATOR_0 OUTPUT --- */ +/* --- OUT - ACTUATOR OUTPUT --- */ #define LOG_OUT0_MSG 12 -struct log_OUT0_s { +struct log_OUT_s { float output[8]; }; @@ -491,6 +491,8 @@ struct log_MACS_s { float yaw_rate_integ; }; +/* WARNING: ID 46 is already in use for ATTC1 */ + /* --- CONTROL STATE --- */ #define LOG_CTS_MSG 47 struct log_CTS_s { @@ -503,7 +505,7 @@ struct log_CTS_s { float yaw_rate; }; -/* WARNING: ID 46 is already in use for ATTC1 */ +#define LOG_OUT1_MSG 50 /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -547,7 +549,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(VTOL, "f", "Arsp"), 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(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT_S(OUT0, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT_S(OUT1, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "BffffffLLHhB", "ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),