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Merge pull request #1199 from PX4/navlogfix

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Nav log fix
This commit is contained in:
Lorenz Meier
2014-07-18 00:03:17 +02:00
parent 193e214b94 ba7df4c170
commit e4bdf2f65a
3 changed files with 17 additions and 12 deletions
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src/modules/navigator/navigator_main.cpp
+1 -1
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@@ -458,7 +458,7 @@ void
Navigator::publish_position_setpoint_triplet() Navigator::publish_position_setpoint_triplet()
{ {
/* update navigation state */ /* update navigation state */
/* TODO: set nav_state */ _pos_sp_triplet.nav_state = _vstatus.nav_state;
/* lazily publish the position setpoint triplet only once available */ /* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub > 0) { if (_pos_sp_triplet_pub > 0) {
src/modules/sdlog2/sdlog2.c
+14 -11
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@@ -1432,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */ /* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) { if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = 0; /* TODO: Fix this */ if (buf.triplet.current.valid) {
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d); log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d); log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.alt = buf.triplet.current.alt; log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.type = buf.triplet.current.type; log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; log_msg.body.log_GPSP.type = buf.triplet.current.type;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
LOGBUFFER_WRITE_AND_COUNT(GPSP); log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
} }
/* --- VICON POSITION --- */ /* --- VICON POSITION --- */
src/modules/uORB/topics/position_setpoint_triplet.h
+2
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@@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
struct position_setpoint_s previous; struct position_setpoint_s previous;
struct position_setpoint_s current; struct position_setpoint_s current;
struct position_setpoint_s next; struct position_setpoint_s next;
unsigned nav_state; /**< report the navigation state */
}; };
/** /**