mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 01:13:35 +08:00
Merge branch 'seatbelt_multirotor' into seatbelt_multirotor_new
WIP, TODO fixedwing
This commit is contained in:
Anton Babushkin
+46
-125
@@ -60,7 +60,6 @@
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/actuator_armed.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
@@ -76,7 +75,7 @@
|
||||
#include <uORB/topics/vehicle_global_position_setpoint.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/vehicle_vicon_position.h>
|
||||
#include <uORB/topics/vehicle_control_debug.h>
|
||||
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
|
||||
#include <uORB/topics/optical_flow.h>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/differential_pressure.h>
|
||||
@@ -96,7 +95,6 @@
|
||||
log_msgs_written++; \
|
||||
} else { \
|
||||
log_msgs_skipped++; \
|
||||
/*printf("skip\n");*/ \
|
||||
}
|
||||
|
||||
#define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \
|
||||
@@ -104,9 +102,6 @@
|
||||
fds[fdsc_count].events = POLLIN; \
|
||||
fdsc_count++;
|
||||
|
||||
|
||||
//#define SDLOG2_DEBUG
|
||||
|
||||
static bool main_thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
@@ -194,7 +189,7 @@ static int file_copy(const char *file_old, const char *file_new);
|
||||
|
||||
static void handle_command(struct vehicle_command_s *cmd);
|
||||
|
||||
static void handle_status(struct actuator_armed_s *armed);
|
||||
static void handle_status(struct vehicle_status_s *cmd);
|
||||
|
||||
/**
|
||||
* Create folder for current logging session. Store folder name in 'log_folder'.
|
||||
@@ -235,7 +230,7 @@ int sdlog2_main(int argc, char *argv[])
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("sdlog2 already running\n");
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
@@ -252,7 +247,7 @@ int sdlog2_main(int argc, char *argv[])
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (!thread_running) {
|
||||
printf("\tsdlog2 is not started\n");
|
||||
warnx("not started");
|
||||
}
|
||||
|
||||
main_thread_should_exit = true;
|
||||
@@ -264,7 +259,7 @@ int sdlog2_main(int argc, char *argv[])
|
||||
sdlog2_status();
|
||||
|
||||
} else {
|
||||
printf("\tsdlog2 not started\n");
|
||||
warnx("not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
@@ -389,11 +384,6 @@ static void *logwriter_thread(void *arg)
|
||||
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
|
||||
int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
int rp = logbuf->read_ptr;
|
||||
int wp = logbuf->write_ptr;
|
||||
#endif
|
||||
|
||||
/* continue */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
@@ -409,9 +399,6 @@ static void *logwriter_thread(void *arg)
|
||||
n = write(log_file, read_ptr, n);
|
||||
|
||||
should_wait = (n == available) && !is_part;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
|
||||
#endif
|
||||
|
||||
if (n < 0) {
|
||||
main_thread_should_exit = true;
|
||||
@@ -424,14 +411,8 @@ static void *logwriter_thread(void *arg)
|
||||
|
||||
} else {
|
||||
n = 0;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
|
||||
#endif
|
||||
/* exit only with empty buffer */
|
||||
if (main_thread_should_exit || logwriter_should_exit) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("break logwriter thread\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
should_wait = true;
|
||||
@@ -446,10 +427,6 @@ static void *logwriter_thread(void *arg)
|
||||
fsync(log_file);
|
||||
close(log_file);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("logwriter thread exit\n");
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -606,15 +583,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
errx(1, "unable to create logging folder, exiting.");
|
||||
}
|
||||
|
||||
const char *converter_in = "/etc/logging/conv.zip";
|
||||
char* converter_out = malloc(150);
|
||||
sprintf(converter_out, "%s/conv.zip", folder_path);
|
||||
|
||||
if (file_copy(converter_in, converter_out)) {
|
||||
errx(1, "unable to copy conversion scripts, exiting.");
|
||||
}
|
||||
free(converter_out);
|
||||
|
||||
/* only print logging path, important to find log file later */
|
||||
warnx("logging to directory: %s", folder_path);
|
||||
|
||||
@@ -625,21 +593,9 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
errx(1, "can't allocate log buffer, exiting.");
|
||||
}
|
||||
|
||||
/* --- IMPORTANT: DEFINE MAX NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
/* max number of messages */
|
||||
const ssize_t fdsc = 21;
|
||||
|
||||
/* Sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
|
||||
/* file descriptors to wait for */
|
||||
struct pollfd fds[fdsc];
|
||||
|
||||
struct vehicle_status_s buf_status;
|
||||
memset(&buf_status, 0, sizeof(buf_status));
|
||||
|
||||
struct actuator_armed_s buf_armed;
|
||||
memset(&buf_armed, 0, sizeof(buf_armed));
|
||||
|
||||
/* warning! using union here to save memory, elements should be used separately! */
|
||||
union {
|
||||
struct vehicle_command_s cmd;
|
||||
@@ -656,19 +612,18 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct vehicle_global_position_setpoint_s global_pos_sp;
|
||||
struct vehicle_gps_position_s gps_pos;
|
||||
struct vehicle_vicon_position_s vicon_pos;
|
||||
struct vehicle_control_debug_s control_debug;
|
||||
struct optical_flow_s flow;
|
||||
struct rc_channels_s rc;
|
||||
struct differential_pressure_s diff_pres;
|
||||
struct airspeed_s airspeed;
|
||||
struct esc_status_s esc;
|
||||
struct vehicle_global_velocity_setpoint_s global_vel_sp;
|
||||
} buf;
|
||||
memset(&buf, 0, sizeof(buf));
|
||||
|
||||
struct {
|
||||
int cmd_sub;
|
||||
int status_sub;
|
||||
int armed_sub;
|
||||
int sensor_sub;
|
||||
int att_sub;
|
||||
int att_sp_sub;
|
||||
@@ -682,11 +637,11 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
int global_pos_sp_sub;
|
||||
int gps_pos_sub;
|
||||
int vicon_pos_sub;
|
||||
int control_debug_sub;
|
||||
int flow_sub;
|
||||
int rc_sub;
|
||||
int airspeed_sub;
|
||||
int esc_sub;
|
||||
int global_vel_sp_sub;
|
||||
} subs;
|
||||
|
||||
/* log message buffer: header + body */
|
||||
@@ -704,7 +659,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct log_GPS_s log_GPS;
|
||||
struct log_ATTC_s log_ATTC;
|
||||
struct log_STAT_s log_STAT;
|
||||
struct log_CTRL_s log_CTRL;
|
||||
struct log_RC_s log_RC;
|
||||
struct log_OUT0_s log_OUT0;
|
||||
struct log_AIRS_s log_AIRS;
|
||||
@@ -713,6 +667,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
struct log_GPOS_s log_GPOS;
|
||||
struct log_GPSP_s log_GPSP;
|
||||
struct log_ESC_s log_ESC;
|
||||
struct log_GVSP_s log_GVSP;
|
||||
} body;
|
||||
} log_msg = {
|
||||
LOG_PACKET_HEADER_INIT(0)
|
||||
@@ -720,18 +675,20 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
#pragma pack(pop)
|
||||
memset(&log_msg.body, 0, sizeof(log_msg.body));
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
/* number of messages */
|
||||
const ssize_t fdsc = 20;
|
||||
/* Sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
|
||||
/* file descriptors to wait for */
|
||||
struct pollfd fds[fdsc];
|
||||
|
||||
/* --- 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++;
|
||||
|
||||
/* --- ACTUATOR ARMED --- */
|
||||
subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
|
||||
fds[fdsc_count].fd = subs.armed_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- VEHICLE STATUS --- */
|
||||
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
fds[fdsc_count].fd = subs.status_sub;
|
||||
@@ -816,12 +773,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- CONTROL DEBUG --- */
|
||||
subs.control_debug_sub = orb_subscribe(ORB_ID(vehicle_control_debug));
|
||||
fds[fdsc_count].fd = subs.control_debug_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- OPTICAL FLOW --- */
|
||||
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
|
||||
fds[fdsc_count].fd = subs.flow_sub;
|
||||
@@ -846,6 +797,12 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- GLOBAL VELOCITY SETPOINT --- */
|
||||
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
|
||||
fds[fdsc_count].fd = subs.global_vel_sp_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.
|
||||
@@ -905,33 +862,22 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
handled_topics++;
|
||||
}
|
||||
|
||||
/* --- ARMED- LOG MANAGEMENT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(actuator_armed), subs.armed_sub, &buf_armed);
|
||||
|
||||
if (log_when_armed) {
|
||||
handle_status(&buf_armed);
|
||||
}
|
||||
|
||||
handled_topics++;
|
||||
}
|
||||
|
||||
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
|
||||
|
||||
//if (log_when_armed) {
|
||||
// handle_status(&buf_armed);
|
||||
//}
|
||||
if (log_when_armed) {
|
||||
handle_status(&buf_status);
|
||||
}
|
||||
|
||||
//handled_topics++;
|
||||
handled_topics++;
|
||||
}
|
||||
|
||||
if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
|
||||
continue;
|
||||
}
|
||||
|
||||
ifds = 2; // Begin from fds[2] again
|
||||
ifds = 1; // Begin from fds[1] again
|
||||
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
|
||||
@@ -944,16 +890,9 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
// Don't orb_copy, it's already done few lines above
|
||||
log_msg.msg_type = LOG_STAT_MSG;
|
||||
// XXX fix this
|
||||
// log_msg.body.log_STAT.state = (unsigned char) buf_status.state_machine;
|
||||
// log_msg.body.log_STAT.flight_mode = (unsigned char) buf_status.flight_mode;
|
||||
// log_msg.body.log_STAT.manual_control_mode = (unsigned char) buf_status.manual_control_mode;
|
||||
// log_msg.body.log_STAT.manual_sas_mode = (unsigned char) buf_status.manual_sas_mode;
|
||||
log_msg.body.log_STAT.state = 0;
|
||||
log_msg.body.log_STAT.flight_mode = 0;
|
||||
log_msg.body.log_STAT.manual_control_mode = 0;
|
||||
log_msg.body.log_STAT.manual_sas_mode = 0;
|
||||
log_msg.body.log_STAT.armed = (unsigned char) buf_armed.armed; /* XXX fmu armed correct? */
|
||||
log_msg.body.log_STAT.main_state = (unsigned char) buf_status.main_state;
|
||||
log_msg.body.log_STAT.navigation_state = (unsigned char) buf_status.navigation_state;
|
||||
log_msg.body.log_STAT.arming_state = (unsigned char) buf_status.arming_state;
|
||||
log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
|
||||
log_msg.body.log_STAT.battery_current = buf_status.battery_current;
|
||||
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
|
||||
@@ -1044,9 +983,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
|
||||
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
|
||||
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
|
||||
log_msg.body.log_ATT.roll_acc = buf.att.rollacc;
|
||||
log_msg.body.log_ATT.pitch_acc = buf.att.pitchacc;
|
||||
log_msg.body.log_ATT.yaw_acc = buf.att.yawacc;
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATT);
|
||||
}
|
||||
|
||||
@@ -1162,27 +1098,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
// TODO not implemented yet
|
||||
}
|
||||
|
||||
/* --- CONTROL DEBUG --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
|
||||
|
||||
log_msg.msg_type = LOG_CTRL_MSG;
|
||||
log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
|
||||
log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
|
||||
log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
|
||||
log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
|
||||
log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
|
||||
log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
|
||||
log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
|
||||
log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
|
||||
log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
|
||||
log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
|
||||
log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
|
||||
log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
|
||||
|
||||
LOGBUFFER_WRITE_AND_COUNT(CTRL);
|
||||
}
|
||||
|
||||
/* --- FLOW --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
|
||||
@@ -1237,14 +1152,18 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* --- GLOBAL VELOCITY SETPOINT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp);
|
||||
log_msg.msg_type = LOG_GVSP_MSG;
|
||||
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
|
||||
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
|
||||
log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
|
||||
LOGBUFFER_WRITE_AND_COUNT(GVSP);
|
||||
}
|
||||
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* only request write if several packets can be written at once */
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
}
|
||||
@@ -1327,7 +1246,7 @@ int file_copy(const char *file_old, const char *file_new)
|
||||
fclose(source);
|
||||
fclose(target);
|
||||
|
||||
return OK;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void handle_command(struct vehicle_command_s *cmd)
|
||||
@@ -1357,10 +1276,12 @@ void handle_command(struct vehicle_command_s *cmd)
|
||||
}
|
||||
}
|
||||
|
||||
void handle_status(struct actuator_armed_s *armed)
|
||||
void handle_status(struct vehicle_status_s *status)
|
||||
{
|
||||
if (armed->armed != flag_system_armed) {
|
||||
flag_system_armed = armed->armed;
|
||||
// TODO use flag from actuator_armed here?
|
||||
bool armed = status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR;
|
||||
if (armed != flag_system_armed) {
|
||||
flag_system_armed = armed;
|
||||
|
||||
if (flag_system_armed) {
|
||||
sdlog2_start_log();
|
||||
|
||||
@@ -63,9 +63,6 @@ struct log_ATT_s {
|
||||
float roll_rate;
|
||||
float pitch_rate;
|
||||
float yaw_rate;
|
||||
float roll_acc;
|
||||
float pitch_acc;
|
||||
float yaw_acc;
|
||||
};
|
||||
|
||||
/* --- ATSP - ATTITUDE SET POINT --- */
|
||||
@@ -152,55 +149,36 @@ struct log_ATTC_s {
|
||||
/* --- STAT - VEHICLE STATE --- */
|
||||
#define LOG_STAT_MSG 10
|
||||
struct log_STAT_s {
|
||||
uint8_t state;
|
||||
uint8_t flight_mode;
|
||||
uint8_t manual_control_mode;
|
||||
uint8_t manual_sas_mode;
|
||||
uint8_t armed;
|
||||
uint8_t main_state;
|
||||
uint8_t navigation_state;
|
||||
uint8_t arming_state;
|
||||
float battery_voltage;
|
||||
float battery_current;
|
||||
float battery_remaining;
|
||||
uint8_t battery_warning;
|
||||
};
|
||||
|
||||
/* --- CTRL - CONTROL DEBUG --- */
|
||||
#define LOG_CTRL_MSG 11
|
||||
struct log_CTRL_s {
|
||||
float roll_p;
|
||||
float roll_i;
|
||||
float roll_d;
|
||||
float roll_rate_p;
|
||||
float roll_rate_i;
|
||||
float roll_rate_d;
|
||||
float pitch_p;
|
||||
float pitch_i;
|
||||
float pitch_d;
|
||||
float pitch_rate_p;
|
||||
float pitch_rate_i;
|
||||
float pitch_rate_d;
|
||||
};
|
||||
|
||||
/* --- RC - RC INPUT CHANNELS --- */
|
||||
#define LOG_RC_MSG 12
|
||||
#define LOG_RC_MSG 11
|
||||
struct log_RC_s {
|
||||
float channel[8];
|
||||
};
|
||||
|
||||
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
|
||||
#define LOG_OUT0_MSG 13
|
||||
#define LOG_OUT0_MSG 12
|
||||
struct log_OUT0_s {
|
||||
float output[8];
|
||||
};
|
||||
|
||||
/* --- AIRS - AIRSPEED --- */
|
||||
#define LOG_AIRS_MSG 14
|
||||
#define LOG_AIRS_MSG 13
|
||||
struct log_AIRS_s {
|
||||
float indicated_airspeed;
|
||||
float true_airspeed;
|
||||
};
|
||||
|
||||
/* --- ARSP - ATTITUDE RATE SET POINT --- */
|
||||
#define LOG_ARSP_MSG 15
|
||||
#define LOG_ARSP_MSG 14
|
||||
struct log_ARSP_s {
|
||||
float roll_rate_sp;
|
||||
float pitch_rate_sp;
|
||||
@@ -208,7 +186,7 @@ struct log_ARSP_s {
|
||||
};
|
||||
|
||||
/* --- FLOW - OPTICAL FLOW --- */
|
||||
#define LOG_FLOW_MSG 16
|
||||
#define LOG_FLOW_MSG 15
|
||||
struct log_FLOW_s {
|
||||
int16_t flow_raw_x;
|
||||
int16_t flow_raw_y;
|
||||
@@ -264,13 +242,21 @@ struct log_ESC_s {
|
||||
uint16_t esc_setpoint_raw;
|
||||
};
|
||||
|
||||
/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
|
||||
#define LOG_GVSP_MSG 19
|
||||
struct log_GVSP_s {
|
||||
float vx;
|
||||
float vy;
|
||||
float vz;
|
||||
};
|
||||
|
||||
#pragma pack(pop)
|
||||
|
||||
/* construct list of all message formats */
|
||||
|
||||
static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(TIME, "Q", "StartTime"),
|
||||
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"),
|
||||
LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
|
||||
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
|
||||
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
|
||||
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
|
||||
@@ -278,8 +264,7 @@ static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
|
||||
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
|
||||
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
|
||||
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
|
||||
LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
|
||||
LOG_FORMAT(STAT, "BBBfffB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn"),
|
||||
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
|
||||
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
|
||||
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
|
||||
@@ -287,7 +272,8 @@ static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
|
||||
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
|
||||
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
|
||||
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
|
||||
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
|
||||
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
|
||||
};
|
||||
|
||||
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
|
||||
|
||||
Reference in New Issue
Block a user