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Added Flow messages to sdlog2

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This commit is contained in:
Julian Oes
2013-06-24 17:24:04 +02:00
parent 60e9ea977d
commit d563960267
2 changed files with 18 additions and 2 deletions
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src/modules/sdlog2/sdlog2.c
+8 -2
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@@ -616,7 +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 = 19;
const ssize_t fdsc = 20;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
@@ -686,6 +686,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_SENS_s log_SENS;
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_FLOW_s log_FLOW;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT;
@@ -1129,7 +1130,12 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
// TODO not implemented yet
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_comp_x_m = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y_m = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.quality = buf.flow.quality;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
}
/* --- RC CHANNELS --- */