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Partially merge branch 'inav_alt_gps' into vector_control2, only estimator part

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This commit is contained in:
Anton Babushkin
2013-12-23 11:13:08 +04:00
parent 4c6f6ed12c 98ebcb626d
commit f36ffe0859
6 changed files with 491 additions and 231 deletions
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src/modules/sdlog2/sdlog2.c
+15
View File
@@ -752,6 +752,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
struct log_DIST_s log_DIST;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -909,6 +910,9 @@ int sdlog2_thread_main(int argc, char *argv[])
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
/* track changes in distance status */
bool dist_bottom_present = false;
/* enable logging on start if needed */
if (log_on_start)
sdlog2_start_log();
@@ -1122,6 +1126,17 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
if (buf.local_pos.dist_bottom_valid) {
dist_bottom_present = true;
}
if (dist_bottom_present) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate;
log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(DIST);
}
}
/* --- LOCAL POSITION SETPOINT --- */
src/modules/sdlog2/sdlog2_messages.h
+11
View File
@@ -247,6 +247,16 @@ struct log_GVSP_s {
float vz;
};
/* --- DIST - DISTANCE TO SURFACE --- */
#define LOG_DIST_MSG 20
struct log_DIST_s {
float bottom;
float bottom_rate;
uint8_t flags;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
#define LOG_TIME_MSG 129
struct log_TIME_s {
@@ -290,6 +300,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
/* system-level messages, ID >= 0x80 */
// FMT: don't write format of format message, it's useless
LOG_FORMAT(TIME, "Q", "StartTime"),