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sdlog2 bugfix of vehicle_status conflicting with commander_state (#4402)

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* sdlog2: move from STAT.MainState to COMM.MainState

This fixes a bug where vehicle_system_status and the commander internal
state were conflicting.

This will need adaptations in logging tools.

* sdlog2: don't bother changing STAT.MainState

For compatibility reasons, let's stick to the used log field (but still
fix the bug where the buffer (union) was overwrittern.
This commit is contained in:
Julian Oes
2016-04-29 17:16:45 +02:00
committed by Lorenz Meier
parent eb1ab4011a
commit ef6892a885
1 changed files with 10 additions and 10 deletions
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src/modules/sdlog2/sdlog2.c
+10 -10
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@@ -1123,6 +1123,9 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_command_s buf_cmd;
memset(&buf_cmd, 0, sizeof(buf_cmd));
struct commander_state_s buf_commander_state;
memset(&buf_commander_state, 0, sizeof(buf_commander_state));
// check if we are gathering data for a replay log for ekf2
// is yes then disable logging of some topics to avoid dropouts
param_t replay_handle = param_find("EKF2_REC_RPL");
@@ -1170,7 +1173,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct camera_trigger_s camera_trigger;
struct ekf2_replay_s replay;
struct vehicle_land_detected_s land_detected;
struct commander_state_s commander_state;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -1429,10 +1431,6 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
bool status_updated = copy_if_updated(ORB_ID(vehicle_status), &subs.status_sub, &buf_status);
/* --- COMMANDER INTERNAL STATE - LOG MANAGEMENT --- */
bool commander_state_updated = copy_if_updated(ORB_ID(commander_state), &subs.commander_state_sub,
&buf.commander_state);
if (status_updated) {
if (log_when_armed) {
handle_status(&buf_status);
@@ -1456,12 +1454,14 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_TIME.t = hrt_absolute_time();
LOGBUFFER_WRITE_AND_COUNT(TIME);
/* --- VEHICLE STATUS / COMMANDER DEBUGGING --- */
if (status_updated || commander_state_updated) {
/* --- COMMANDER INTERNAL STATE --- */
copy_if_updated(ORB_ID(commander_state), &subs.commander_state_sub,
&buf_commander_state);
/* --- VEHICLE STATUS --- */
if (status_updated) {
log_msg.msg_type = LOG_STAT_MSG;
// TODO: This field should get DEPRECATED in favor of nav_state. main_state is only for
// commander debugging.
log_msg.body.log_STAT.main_state = buf.commander_state.main_state;
log_msg.body.log_STAT.main_state = buf_commander_state.main_state;
log_msg.body.log_STAT.nav_state = buf_status.nav_state;
log_msg.body.log_STAT.arming_state = buf_status.arming_state;
log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe;