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Improved reporting / logging a lot, first usable version of SD card logger

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Lorenz Meier
2012-09-14 17:52:24 +02:00
parent fb397c8dc4
commit e5950ad498
5 changed files with 55 additions and 42 deletions
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apps/mavlink/mavlink.c
+21 -21
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@@ -777,10 +777,10 @@ static void *uorb_receiveloop(void *arg)
last_sensor_timestamp = buf.raw.timestamp;
/* send raw imu data */
mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.raw.accelerometer_raw[0],
buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0],
buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0],
buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.raw.accelerometer_raw[0],
// buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0],
// buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0],
// buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
/* mark individual fields as changed */
uint16_t fields_updated = 0;
@@ -835,7 +835,7 @@ static void *uorb_receiveloop(void *arg)
orb_copy(ORB_ID(vehicle_attitude), subs->att_sub, &buf.att);
/* send sensor values */
mavlink_msg_attitude_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed);
mavlink_msg_attitude_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed);
attitude_counter++;
}
@@ -1073,7 +1073,7 @@ static void *uorb_receiveloop(void *arg)
/* copy local position data into local buffer */
orb_copy(ORB_ID(manual_control_setpoint), subs->man_control_sp_sub, &buf.man_control);
mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll,
buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 1, 1, 1, 1);
buf.man_control.pitch, buf.man_control.yaw, buf.man_control.throttle, 0);
}
/* --- ACTUATOR ARMED --- */
@@ -1320,23 +1320,23 @@ void handleMessage(mavlink_message_t *msg)
memset(&rc_hil, 0, sizeof(rc_hil));
static orb_advert_t rc_pub = 0;
rc_hil.chan[0].raw = 1510 + man.roll * 500;
rc_hil.chan[1].raw = 1520 + man.pitch * 500;
rc_hil.chan[2].raw = 1590 + man.yaw * 500;
rc_hil.chan[3].raw = 1420 + man.thrust * 500;
rc_hil.chan[0].raw = 1510 + man.x * 500;
rc_hil.chan[1].raw = 1520 + man.y * 500;
rc_hil.chan[2].raw = 1590 + man.r * 500;
rc_hil.chan[3].raw = 1420 + man.z * 500;
rc_hil.chan[0].scaled = man.roll;
rc_hil.chan[1].scaled = man.pitch;
rc_hil.chan[2].scaled = man.yaw;
rc_hil.chan[3].scaled = man.thrust;
rc_hil.chan[0].scaled = man.x;
rc_hil.chan[1].scaled = man.y;
rc_hil.chan[2].scaled = man.r;
rc_hil.chan[3].scaled = man.z;
struct manual_control_setpoint_s mc;
static orb_advert_t mc_pub = 0;
mc.roll = man.roll;
mc.pitch = man.roll;
mc.yaw = man.roll;
mc.roll = man.roll;
mc.roll = man.x;
mc.pitch = man.y;
mc.yaw = man.r;
mc.roll = man.z;
/* fake RC channels with manual control input from simulator */
@@ -1578,15 +1578,15 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 200);
} else if (baudrate >= 230400) {
/* 200 Hz / 5 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 5);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
} else if (baudrate >= 115200) {
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);