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sdlog2: Log actuator output group 1 as well

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This commit is contained in:
Lorenz Meier
2016-01-23 16:02:18 +01:00
parent f52ce2001d
commit c2aaeefa6c
2 changed files with 18 additions and 7 deletions
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src/modules/sdlog2/sdlog2.c
+11 -3
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@@ -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 --- */