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log multirotor attitude controller status

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Roman Bapst
2015-04-18 11:26:19 +02:00
committed by Lorenz Meier
parent b52d0ed8a2
commit e097affd7a
5 changed files with 24 additions and 3 deletions
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src/modules/sdlog2/sdlog2.c
+13
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@@ -100,6 +100,7 @@
#include <uORB/topics/encoders.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/time_offset.h>
#include <uORB/topics/mc_att_ctrl_status.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -1029,6 +1030,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct encoders_s encoders;
struct vtol_vehicle_status_s vtol_status;
struct time_offset_s time_offset;
struct mc_att_ctrl_status_s mc_att_ctrl_status;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -1074,6 +1076,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_WIND_s log_WIND;
struct log_ENCD_s log_ENCD;
struct log_TSYN_s log_TSYN;
struct log_MACS_s log_MACS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1115,6 +1118,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int wind_sub;
int encoders_sub;
int tsync_sub;
int mc_att_ctrl_status_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1147,6 +1151,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
subs.tsync_sub = orb_subscribe(ORB_ID(time_offset));
subs.mc_att_ctrl_status_sub = orb_subscribe(ORB_ID(mc_att_ctrl_status));
/* we need to rate-limit wind, as we do not need the full update rate */
orb_set_interval(subs.wind_sub, 90);
@@ -1831,6 +1836,14 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_TSYN_MSG;
log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns;
LOGBUFFER_WRITE_AND_COUNT(TSYN);
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
log_msg.msg_type = LOG_MACS_MSG;
log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ;
log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ;
log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ;
LOGBUFFER_WRITE_AND_COUNT(MACS);
}
/* signal the other thread new data, but not yet unlock */