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Merge branch 'master' of github.com:PX4/Firmware into origin_integration

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Lorenz Meier
2013-07-02 16:40:26 +02:00
parent 4edb6ce76b 697c0a1a1d
commit e9290e7fc0
16 changed files with 255 additions and 125 deletions
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src/modules/sdlog2/sdlog2.c
+11 -3
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@@ -2,7 +2,7 @@
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
* Anton Babushkin <rk3dov@gmail.com>
* Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -40,7 +40,7 @@
* does the heavy SD I/O in a low-priority worker thread.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Anton Babushkin <rk3dov@gmail.com>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
@@ -685,6 +685,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
struct log_GPOS_s log_GPOS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1056,7 +1057,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
// TODO not implemented yet
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat;
log_msg.body.log_GPOS.lon = buf.global_pos.lon;
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
log_msg.body.log_GPOS.vel_n = buf.global_pos.vx;
log_msg.body.log_GPOS.vel_e = buf.global_pos.vy;
log_msg.body.log_GPOS.vel_d = buf.global_pos.vz;
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- VICON POSITION --- */