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uORB combine VTOL FW and MC virtual topics (#7008)

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Daniel Agar
2017-04-09 13:17:20 -04:00
committed by GitHub
parent 19f0b0be3a
commit c5e0bf1c2f
17 changed files with 74 additions and 263 deletions
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src/modules/sdlog2/sdlog2.c
-9
View File
@@ -57,18 +57,10 @@
#else
#include <sys/statfs.h>
#endif
#include <fcntl.h>
#include <errno.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <ctype.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <time.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -1965,7 +1957,6 @@ int sdlog2_thread_main(int argc, char *argv[])
if (buf.triplet.current.valid) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * (double)1e7);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * (double)1e7);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
src/modules/sdlog2/sdlog2_messages.h
+1 -2
View File
@@ -248,7 +248,6 @@ struct log_GPOS_s {
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t nav_state;
int32_t lat;
int32_t lon;
float alt;
@@ -693,7 +692,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "BffffffLLHhB", "ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(GPSP, "LLffBfbf", "Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "fffffffB", "V,VFilt,C,CFilt,Discharged,Remaining,Scale,Warning"),