Moved position_estimator_mc, px4io driver and sdlog app to new style build

src/modules/sdlog/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# sdlog Application
+#
+
+MODULE_COMMAND	 = sdlog
+# The main thread only buffers to RAM, needs a high priority
+MODULE_PRIORITY	 = "SCHED_PRIORITY_MAX-30"
+
+SRCS		 = sdlog.c \
+		   sdlog_ringbuffer.c

src/modules/sdlog/sdlog.c

@@ -0,0 +1,829 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Simple SD logger for flight data. Buffers new sensor values and
+ * does the heavy SD I/O in a low-priority worker thread.
+ */
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/prctl.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <systemlib/err.h>
+#include <unistd.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/optical_flow.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/differential_pressure.h>
+
+#include <systemlib/systemlib.h>
+
+#include <mavlink/mavlink_log.h>
+
+#include "sdlog_ringbuffer.h"
+
+static bool thread_should_exit = false;		/**< Deamon exit flag */
+static bool thread_running = false;		/**< Deamon status flag */
+static int deamon_task;				/**< Handle of deamon task / thread */
+static const int MAX_NO_LOGFOLDER = 999;	/**< Maximum number of log folders */
+
+static const char *mountpoint = "/fs/microsd";
+static const char *mfile_in = "/etc/logging/logconv.m";
+int sysvector_file = -1;
+int mavlink_fd = -1;
+struct sdlog_logbuffer lb;
+
+/* mutex / condition to synchronize threads */
+pthread_mutex_t sysvector_mutex;
+pthread_cond_t sysvector_cond;
+
+/**
+ * System state vector log buffer writing
+ */
+static void *sdlog_sysvector_write_thread(void *arg);
+
+/**
+ * Create the thread to write the system vector
+ */
+pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
+
+/**
+ * SD log management function.
+ */
+__EXPORT int sdlog_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of sd log deamon.
+ */
+int sdlog_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static int file_exist(const char *filename);
+
+static int file_copy(const char *file_old, const char *file_new);
+
+static void handle_command(struct vehicle_command_s *cmd);
+
+/**
+ * Print the current status.
+ */
+static void print_sdlog_status(void);
+
+/**
+ * Create folder for current logging session.
+ */
+static int create_logfolder(char *folder_path);
+
+static void
+usage(const char *reason)
+{
+	if (reason)
+		fprintf(stderr, "%s\n", reason);
+
+	errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
+}
+
+// XXX turn this into a C++ class
+unsigned sensor_combined_bytes = 0;
+unsigned actuator_outputs_bytes = 0;
+unsigned actuator_controls_bytes = 0;
+unsigned sysvector_bytes = 0;
+unsigned blackbox_file_bytes = 0;
+uint64_t starttime = 0;
+
+/* logging on or off, default to true */
+bool logging_enabled = true;
+
+/**
+ * The sd log deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn().
+ */
+int sdlog_main(int argc, char *argv[])
+{
+	if (argc < 1)
+		usage("missing command");
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (thread_running) {
+			printf("sdlog already running\n");
+			/* this is not an error */
+			exit(0);
+		}
+
+		thread_should_exit = false;
+		deamon_task = task_spawn("sdlog",
+					 SCHED_DEFAULT,
+					 SCHED_PRIORITY_DEFAULT - 30,
+					 4096,
+					 sdlog_thread_main,
+					 (const char **)argv);
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		if (!thread_running) {
+			printf("\tsdlog is not started\n");
+		}
+
+		thread_should_exit = true;
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (thread_running) {
+			print_sdlog_status();
+
+		} else {
+			printf("\tsdlog not started\n");
+		}
+
+		exit(0);
+	}
+
+	usage("unrecognized command");
+	exit(1);
+}
+
+int create_logfolder(char *folder_path)
+{
+	/* make folder on sdcard */
+	uint16_t foldernumber = 1; // start with folder 0001
+	int mkdir_ret;
+
+	/* look for the next folder that does not exist */
+	while (foldernumber < MAX_NO_LOGFOLDER) {
+		/* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
+		sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
+		mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
+		/* the result is -1 if the folder exists */
+
+		if (mkdir_ret == 0) {
+			/* folder does not exist, success */
+
+			/* now copy the Matlab/Octave file */
+			char mfile_out[100];
+			sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
+			int ret = file_copy(mfile_in, mfile_out);
+
+			if (!ret) {
+				warnx("copied m file to %s", mfile_out);
+
+			} else {
+				warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
+			}
+
+			break;
+
+		} else if (mkdir_ret == -1) {
+			/* folder exists already */
+			foldernumber++;
+			continue;
+
+		} else {
+			warn("failed creating new folder");
+			return -1;
+		}
+	}
+
+	if (foldernumber >= MAX_NO_LOGFOLDER) {
+		/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
+		warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
+		return -1;
+	}
+
+	return 0;
+}
+
+
+static void *
+sdlog_sysvector_write_thread(void *arg)
+{
+	/* set name */
+	prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
+
+	struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
+
+	int poll_count = 0;
+	struct sdlog_sysvector sysvect;
+	memset(&sysvect, 0, sizeof(sysvect));
+
+	while (!thread_should_exit) {
+		
+		/* make sure threads are synchronized */
+		pthread_mutex_lock(&sysvector_mutex);
+
+		/* only wait if no data is available to process */
+		if (sdlog_logbuffer_is_empty(logbuf)) {
+			/* blocking wait for new data at this line */
+			pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
+		}
+
+		/* only quickly load data, do heavy I/O a few lines down */
+		int ret = sdlog_logbuffer_read(logbuf, &sysvect);
+		/* continue */
+		pthread_mutex_unlock(&sysvector_mutex);
+
+		if (ret == OK) {
+			sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
+		}
+
+		if (poll_count % 100 == 0) {
+			fsync(sysvector_file);
+		}
+
+		poll_count++;
+	}
+
+	fsync(sysvector_file);
+
+	return OK;
+}
+
+pthread_t
+sysvector_write_start(struct sdlog_logbuffer *logbuf)
+{
+	pthread_attr_t receiveloop_attr;
+	pthread_attr_init(&receiveloop_attr);
+
+	struct sched_param param;
+	/* low priority, as this is expensive disk I/O */
+	param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
+	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+	pthread_t thread;
+	pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
+	return thread;
+
+	// XXX we have to destroy the attr at some point
+}
+
+
+int sdlog_thread_main(int argc, char *argv[])
+{
+	mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+	if (mavlink_fd < 0) {
+		warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+	}
+
+	/* log every n'th value (skip three per default) */
+	int skip_value = 3;
+
+	/* work around some stupidity in task_create's argv handling */
+	argc -= 2;
+	argv += 2;
+	int ch;
+
+	while ((ch = getopt(argc, argv, "s:r")) != EOF) {
+		switch (ch) {
+		case 's':
+			{
+			/* log only every n'th (gyro clocked) value */
+			unsigned s = strtoul(optarg, NULL, 10);
+
+			if (s < 1 || s > 250) {
+				errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
+			} else {
+				skip_value = s;
+			}
+			}
+			break;
+
+		case 'r':
+			/* log only on request, disable logging per default */
+			logging_enabled = false;
+			break;
+
+		case '?':
+			if (optopt == 'c') {
+				warnx("Option -%c requires an argument.\n", optopt);
+			} else if (isprint(optopt)) {
+				warnx("Unknown option `-%c'.\n", optopt);
+			} else {
+				warnx("Unknown option character `\\x%x'.\n", optopt);
+			}
+
+		default:
+			usage("unrecognized flag");
+			errx(1, "exiting.");
+		}
+	}
+
+	if (file_exist(mountpoint) != OK) {
+		errx(1, "logging mount point %s not present, exiting.", mountpoint);
+	}
+
+	char folder_path[64];
+
+	if (create_logfolder(folder_path))
+		errx(1, "unable to create logging folder, exiting.");
+
+	FILE *gpsfile;
+	FILE *blackbox_file;
+
+	/* string to hold the path to the sensorfile */
+	char path_buf[64] = "";
+
+	/* only print logging path, important to find log file later */
+	warnx("logging to directory %s\n", folder_path);
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
+	sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
+
+	if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
+	sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
+
+	if (NULL == (gpsfile = fopen(path_buf, "w"))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	int gpsfile_no = fileno(gpsfile);
+
+	/* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
+	sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
+
+	if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
+		errx(1, "opening %s failed.\n", path_buf);
+	}
+
+	// XXX for fsync() calls
+	int blackbox_file_no = fileno(blackbox_file);
+
+	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
+	/* number of messages */
+	const ssize_t fdsc = 25;
+	/* Sanity check variable and index */
+	ssize_t fdsc_count = 0;
+	/* file descriptors to wait for */
+	struct pollfd fds[fdsc];
+
+
+	struct {
+		struct sensor_combined_s raw;
+		struct vehicle_attitude_s att;
+		struct vehicle_attitude_setpoint_s att_sp;
+		struct actuator_outputs_s act_outputs;
+		struct actuator_controls_s act_controls;
+		struct actuator_controls_effective_s act_controls_effective;
+		struct vehicle_command_s cmd;
+		struct vehicle_local_position_s local_pos;
+		struct vehicle_global_position_s global_pos;
+		struct vehicle_gps_position_s gps_pos;
+		struct vehicle_vicon_position_s vicon_pos;
+		struct optical_flow_s flow;
+		struct battery_status_s batt;
+		struct differential_pressure_s diff_pressure;
+	} buf;
+	memset(&buf, 0, sizeof(buf));
+
+	struct {
+		int cmd_sub;
+		int sensor_sub;
+		int att_sub;
+		int spa_sub;
+		int act_0_sub;
+		int controls_0_sub;
+		int controls_effective_0_sub;
+		int local_pos_sub;
+		int global_pos_sub;
+		int gps_pos_sub;
+		int vicon_pos_sub;
+		int flow_sub;
+		int batt_sub;
+		int diff_pressure_sub;
+	} subs;
+
+	/* --- MANAGEMENT - LOGGING COMMAND --- */
+	/* subscribe to ORB for vehicle command */
+	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
+	fds[fdsc_count].fd = subs.cmd_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- GPS POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+	fds[fdsc_count].fd = subs.gps_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- SENSORS RAW VALUE --- */
+	/* subscribe to ORB for sensors raw */
+	subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+	fds[fdsc_count].fd = subs.sensor_sub;
+	/* do not rate limit, instead use skip counter (aliasing on rate limit) */
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ATTITUDE VALUE --- */
+	/* subscribe to ORB for attitude */
+	subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+	fds[fdsc_count].fd = subs.att_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ATTITUDE SETPOINT VALUE --- */
+	/* subscribe to ORB for attitude setpoint */
+	/* struct already allocated */
+	subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+	fds[fdsc_count].fd = subs.spa_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/** --- ACTUATOR OUTPUTS --- */
+	subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
+	fds[fdsc_count].fd = subs.act_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+	fds[fdsc_count].fd = subs.controls_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
+	/* subscribe to ORB for actuator control */
+	subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
+	fds[fdsc_count].fd = subs.controls_effective_0_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- LOCAL POSITION --- */
+	/* subscribe to ORB for local position */
+	subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+	fds[fdsc_count].fd = subs.local_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- GLOBAL POSITION --- */
+	/* subscribe to ORB for global position */
+	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+	fds[fdsc_count].fd = subs.global_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- VICON POSITION --- */
+	/* subscribe to ORB for vicon position */
+	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+	fds[fdsc_count].fd = subs.vicon_pos_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- FLOW measurements --- */
+	/* subscribe to ORB for flow measurements */
+	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
+	fds[fdsc_count].fd = subs.flow_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- BATTERY STATUS --- */
+	/* subscribe to ORB for flow measurements */
+	subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
+	fds[fdsc_count].fd = subs.batt_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* --- DIFFERENTIAL PRESSURE --- */
+	/* subscribe to ORB for flow measurements */
+	subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure));
+	fds[fdsc_count].fd = subs.diff_pressure_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
+	/* WARNING: If you get the error message below,
+	 * then the number of registered messages (fdsc)
+	 * differs from the number of messages in the above list.
+	 */
+	if (fdsc_count > fdsc) {
+		warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
+		fdsc_count = fdsc;
+	}
+
+	/*
+	 * set up poll to block for new data,
+	 * wait for a maximum of 1000 ms (1 second)
+	 */
+	// const int timeout = 1000;
+
+	thread_running = true;
+
+	/* initialize log buffer with a size of 10 */
+	sdlog_logbuffer_init(&lb, 10);
+
+	/* initialize thread synchronization */
+	pthread_mutex_init(&sysvector_mutex, NULL);
+  	pthread_cond_init(&sysvector_cond, NULL);
+
+	/* start logbuffer emptying thread */
+	pthread_t sysvector_pthread = sysvector_write_start(&lb);
+
+	starttime = hrt_absolute_time();
+
+	/* track skipping */
+	int skip_count = 0;
+
+	while (!thread_should_exit) {
+
+		/* only poll for commands, gps and sensor_combined */
+		int poll_ret = poll(fds, 3, 1000);
+
+		/* handle the poll result */
+		if (poll_ret == 0) {
+			/* XXX this means none of our providers is giving us data - might be an error? */
+		} else if (poll_ret < 0) {
+			/* XXX this is seriously bad - should be an emergency */
+		} else {
+
+			int ifds = 0;
+
+			/* --- VEHICLE COMMAND VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy command into local buffer */
+				orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
+
+				/* always log to blackbox, even when logging disabled */
+				blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
+					buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
+					(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
+
+				handle_command(&buf.cmd);
+			}
+
+			/* --- VEHICLE GPS VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+				/* copy gps position into local buffer */
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+
+				/* if logging disabled, continue */
+				if (logging_enabled) {
+
+				/* write KML line */
+				}
+			}
+
+			/* --- SENSORS RAW VALUE --- */
+			if (fds[ifds++].revents & POLLIN) {
+
+				// /* copy sensors raw data into local buffer */
+				// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				// /* write out */
+				// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
+
+				/* always copy sensors raw data into local buffer, since poll flags won't clear else */
+				orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
+				orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
+				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
+				orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+				orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
+				orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
+				orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+				orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
+				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
+				orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
+				orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
+
+				/* if skipping is on or logging is disabled, ignore */
+				if (skip_count < skip_value || !logging_enabled) {
+					skip_count++;
+					/* do not log data */
+					continue;
+				} else {
+					/* log data, reset */
+					skip_count = 0;
+				}
+
+				struct sdlog_sysvector sysvect = {
+					.timestamp = buf.raw.timestamp,
+					.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+					.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+					.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+					.baro = buf.raw.baro_pres_mbar,
+					.baro_alt = buf.raw.baro_alt_meter,
+					.baro_temp = buf.raw.baro_temp_celcius,
+					.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+					.actuators = {
+						buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
+						buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
+					},
+					.vbat = buf.batt.voltage_v,
+					.bat_current = buf.batt.current_a,
+					.bat_discharged = buf.batt.discharged_mah,
+					.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]},
+					.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
+					.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
+					.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
+					.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+					.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
+					.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
+					.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
+					.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
+					.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
+					.true_airspeed = buf.diff_pressure.true_airspeed_m_s
+				};
+
+				/* put into buffer for later IO */
+				pthread_mutex_lock(&sysvector_mutex);
+				sdlog_logbuffer_write(&lb, &sysvect);
+				/* signal the other thread new data, but not yet unlock */
+				if ((unsigned)lb.count > (lb.size / 2)) {
+					/* only request write if several packets can be written at once */
+					pthread_cond_signal(&sysvector_cond);
+				}
+				/* unlock, now the writer thread may run */
+				pthread_mutex_unlock(&sysvector_mutex);
+			}
+
+		}
+
+	}
+
+	print_sdlog_status();
+
+	/* wake up write thread one last time */
+	pthread_mutex_lock(&sysvector_mutex);
+	pthread_cond_signal(&sysvector_cond);
+	/* unlock, now the writer thread may return */
+	pthread_mutex_unlock(&sysvector_mutex);
+
+	/* wait for write thread to return */
+	(void)pthread_join(sysvector_pthread, NULL);
+
+  	pthread_mutex_destroy(&sysvector_mutex);
+  	pthread_cond_destroy(&sysvector_cond);
+
+	warnx("exiting.\n\n");
+
+	/* finish KML file */
+	// XXX
+	fclose(gpsfile);
+	fclose(blackbox_file);
+
+	thread_running = false;
+
+	return 0;
+}
+
+void print_sdlog_status()
+{
+	unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
+	float mebibytes = bytes / 1024.0f / 1024.0f;
+	float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
+
+	warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
+}
+
+/**
+ * @return 0 if file exists
+ */
+int file_exist(const char *filename)
+{
+	struct stat buffer;
+	return stat(filename, &buffer);
+}
+
+int file_copy(const char *file_old, const char *file_new)
+{
+	FILE *source, *target;
+	source = fopen(file_old, "r");
+	int ret = 0;
+
+	if (source == NULL) {
+		warnx("failed opening input file to copy");
+		return 1;
+	}
+
+	target = fopen(file_new, "w");
+
+	if (target == NULL) {
+		fclose(source);
+		warnx("failed to open output file to copy");
+		return 1;
+	}
+
+	char buf[128];
+	int nread;
+
+	while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
+		int ret = fwrite(buf, 1, nread, target);
+
+		if (ret <= 0) {
+			warnx("error writing file");
+			ret = 1;
+			break;
+		}
+	}
+
+	fsync(fileno(target));
+
+	fclose(source);
+	fclose(target);
+
+	return ret;
+}
+
+void handle_command(struct vehicle_command_s *cmd)
+{
+	/* result of the command */
+	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+
+	/* request to set different system mode */
+	switch (cmd->command) {
+
+	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+
+		if (((int)(cmd->param3)) == 1)	{
+
+			/* enable logging */
+			mavlink_log_info(mavlink_fd, "[log] file:");
+			mavlink_log_info(mavlink_fd, "logdir");
+			logging_enabled = true;
+		}
+		if (((int)(cmd->param3)) == 0)	{
+
+			/* disable logging */
+			mavlink_log_info(mavlink_fd, "[log] stopped.");
+			logging_enabled = false;
+		}
+		break;
+
+	default:
+		/* silently ignore */
+		break;
+	}
+
+}

src/modules/sdlog/sdlog_ringbuffer.c

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_log.c
+ * MAVLink text logging.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "sdlog_ringbuffer.h"
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size)
+{
+	lb->size  = size;
+	lb->start = 0;
+	lb->count = 0;
+	lb->elems = (struct sdlog_sysvector *)calloc(lb->size, sizeof(struct sdlog_sysvector));
+}
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb)
+{
+	return lb->count == (int)lb->size;
+}
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb)
+{
+	return lb->count == 0;
+}
+
+
+// XXX make these functions thread-safe
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem)
+{
+	int end = (lb->start + lb->count) % lb->size;
+	memcpy(&(lb->elems[end]), elem, sizeof(struct sdlog_sysvector));
+
+	if (sdlog_logbuffer_is_full(lb)) {
+		lb->start = (lb->start + 1) % lb->size; /* full, overwrite */
+
+	} else {
+		++lb->count;
+	}
+}
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem)
+{
+	if (!sdlog_logbuffer_is_empty(lb)) {
+		memcpy(elem, &(lb->elems[lb->start]), sizeof(struct sdlog_sysvector));
+		lb->start = (lb->start + 1) % lb->size;
+		--lb->count;
+		return 0;
+
+	} else {
+		return 1;
+	}
+}

src/modules/sdlog/sdlog_ringbuffer.h

@@ -0,0 +1,91 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog_ringbuffer.h
+ * microSD logging
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#ifndef SDLOG_RINGBUFFER_H_
+#define SDLOG_RINGBUFFER_H_
+
+#pragma pack(push, 1)
+struct sdlog_sysvector {
+	uint64_t timestamp;		/**<  time [us] */
+	float gyro[3];			/**< [rad/s] */
+	float accel[3];			/**< [m/s^2] */
+	float mag[3];			/**< [gauss] */
+	float baro;			/**< pressure [millibar] */
+	float baro_alt;			/**< altitude above MSL [meter] */
+	float baro_temp;		/**< [degree celcius] */
+	float control[4];		/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float actuators[8];		/**< motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) */
+	float vbat;			/**< battery voltage in [volt] */
+	float bat_current;		/**< battery discharge current */
+	float bat_discharged;		/**< discharged energy in mAh */
+	float adc[4];			/**< ADC ports [volt] */
+	float local_position[3];	/**< tangent plane mapping into x,y,z [m] */
+	int32_t gps_raw_position[3];	/**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */
+	float attitude[3];		/**< roll, pitch, yaw [rad] */
+	float rotMatrix[9];		/**< unitvectors */
+	float vicon[6];			/**< Vicon ground truth x, y, z and roll, pitch, yaw */
+	float control_effective[4]; 	/**< roll, pitch, yaw [-1..1], thrust [0..1] */
+	float flow[6];			/**< flow raw x, y, flow metric x, y, flow ground dist, flow quality */
+	float diff_pressure;		/**< differential pressure */
+	float ind_airspeed;		/**< indicated airspeed */
+	float true_airspeed;		/**< true airspeed */
+};
+#pragma pack(pop)
+
+struct sdlog_logbuffer {
+	unsigned int start;
+	// unsigned int end;
+	unsigned int size;
+	int count;
+	struct sdlog_sysvector *elems;
+};
+
+void sdlog_logbuffer_init(struct sdlog_logbuffer *lb, int size);
+
+int sdlog_logbuffer_is_full(struct sdlog_logbuffer *lb);
+
+int sdlog_logbuffer_is_empty(struct sdlog_logbuffer *lb);
+
+void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvector *elem);
+
+int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem);
+
+#endif