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mocap_support: added support for mocap data on firmware

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This commit is contained in:
TSC21
2015-06-13 17:03:31 +01:00
parent c92655b850
commit dccd4df7bc
13 changed files with 225 additions and 90 deletions
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src/modules/sdlog2/sdlog2.c
+16 -15
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@@ -80,7 +80,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -1071,7 +1071,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct att_pos_mocap_s att_pos_mocap;
struct vision_position_estimate_s vision_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
@@ -1127,7 +1127,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_MOCP_s log_MOCP;
struct log_VISN_s log_VISN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
@@ -1162,7 +1162,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int triplet_sub;
int gps_pos_sub;
int sat_info_sub;
int vicon_pos_sub;
int att_pos_mocap_sub;
int vision_pos_sub;
int flow_sub;
int rc_sub;
@@ -1197,7 +1197,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.local_pos_sp_sub = -1;
subs.global_pos_sub = -1;
subs.triplet_sub = -1;
subs.vicon_pos_sub = -1;
subs.att_pos_mocap_sub = -1;
subs.vision_pos_sub = -1;
subs.flow_sub = -1;
subs.rc_sub = -1;
@@ -1681,16 +1681,17 @@ int sdlog2_thread_main(int argc, char *argv[])
}
}
/* --- VICON POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_vicon_position), &subs.vicon_pos_sub, &buf.vicon_pos)) {
log_msg.msg_type = LOG_VICN_MSG;
log_msg.body.log_VICN.x = buf.vicon_pos.x;
log_msg.body.log_VICN.y = buf.vicon_pos.y;
log_msg.body.log_VICN.z = buf.vicon_pos.z;
log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch;
log_msg.body.log_VICN.roll = buf.vicon_pos.roll;
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
/* --- MOCAP ATTITUDE AND POSITION --- */
if (copy_if_updated(ORB_ID(att_pos_mocap), &subs.att_pos_mocap_sub, &buf.att_pos_mocap)) {
log_msg.msg_type = LOG_MOCP_MSG;
log_msg.body.log_MOCP.qw = buf.att_pos_mocap.q[0];
log_msg.body.log_MOCP.qx = buf.att_pos_mocap.q[1];
log_msg.body.log_MOCP.qy = buf.att_pos_mocap.q[2];
log_msg.body.log_MOCP.qz = buf.att_pos_mocap.q[3];
log_msg.body.log_MOCP.x = buf.att_pos_mocap.x;
log_msg.body.log_MOCP.y = buf.att_pos_mocap.y;
log_msg.body.log_MOCP.z = buf.att_pos_mocap.z;
LOGBUFFER_WRITE_AND_COUNT(MOCP);
}
/* --- VISION POSITION --- */