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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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2438 lines
78 KiB
C
2438 lines
78 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sdlog2.c
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*
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* Simple SD logger for flight data. Buffers new sensor values and
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* does the heavy SD I/O in a low-priority worker thread.
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*
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Ban Siesta <bansiesta@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <px4_posix.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#ifdef __PX4_DARWIN
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#include <sys/param.h>
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#include <sys/mount.h>
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#else
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#include <sys/statfs.h>
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#endif
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#include <ctype.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <math.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/control_state.h>
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#include <uORB/topics/vehicle_attitude_setpoint.h>
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#include <uORB/topics/vehicle_rates_setpoint.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/satellite_info.h>
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#include <uORB/topics/att_pos_mocap.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/differential_pressure.h>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/rc_channels.h>
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#include <uORB/topics/esc_status.h>
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#include <uORB/topics/telemetry_status.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/tecs_status.h>
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#include <uORB/topics/system_power.h>
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#include <uORB/topics/servorail_status.h>
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#include <uORB/topics/wind_estimate.h>
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#include <uORB/topics/vtol_vehicle_status.h>
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#include <uORB/topics/time_offset.h>
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#include <uORB/topics/mc_att_ctrl_status.h>
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#include <uORB/topics/ekf2_innovations.h>
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#include <uORB/topics/camera_trigger.h>
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#include <uORB/topics/ekf2_replay.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/commander_state.h>
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#include <uORB/topics/cpuload.h>
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#include <uORB/topics/task_stack_info.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/param/param.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/printload.h>
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#include <systemlib/mavlink_log.h>
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#include <version/version.h>
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#include "logbuffer.h"
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#include "sdlog2_format.h"
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#include "sdlog2_messages.h"
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#define PX4_EPOCH_SECS 1234567890L
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#define LOGBUFFER_WRITE_AND_COUNT(_msg) pthread_mutex_lock(&logbuffer_mutex); \
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if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
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log_msgs_written++; \
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} else { \
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log_msgs_skipped++; \
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} \
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pthread_mutex_unlock(&logbuffer_mutex);
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#define SDLOG_MIN(X,Y) ((X) < (Y) ? (X) : (Y))
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static bool main_thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
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static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
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static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
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static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
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#if defined __PX4_POSIX
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static const int MAX_WRITE_CHUNK = 2048;
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static const int MIN_BYTES_TO_WRITE = 512;
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#else
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static const int MAX_WRITE_CHUNK = 512;
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static const int MIN_BYTES_TO_WRITE = 512;
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#endif
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static bool _extended_logging = false;
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static bool _gpstime_only = false;
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static int32_t _utc_offset = 0;
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#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
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#define MOUNTPOINT PX4_ROOTFSDIR"/fs/microsd"
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#else
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#define MOUNTPOINT "/root"
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#endif
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static const char *mountpoint = MOUNTPOINT;
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static const char *log_root = MOUNTPOINT "/log";
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static orb_advert_t mavlink_log_pub = NULL;
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struct logbuffer_s lb;
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/* mutex / condition to synchronize threads */
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static pthread_mutex_t logbuffer_mutex;
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static pthread_cond_t logbuffer_cond;
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#ifdef __PX4_NUTTX
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#define LOG_BASE_PATH_LEN 64
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#else
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#define LOG_BASE_PATH_LEN 256
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#endif
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static char log_dir[LOG_BASE_PATH_LEN];
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/* statistics counters */
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static uint64_t start_time = 0;
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static unsigned long log_bytes_written = 0;
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static unsigned long last_checked_bytes_written = 0;
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static unsigned long log_msgs_written = 0;
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static unsigned long log_msgs_skipped = 0;
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/* GPS time, used for log files naming */
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static uint64_t gps_time_sec = 0;
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static bool has_gps_3d_fix = false;
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/* current state of logging */
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static bool logging_enabled = false;
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/* use date/time for naming directories and files (-t option) */
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static bool log_name_timestamp = false;
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/* helper flag to track system state changes */
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static bool flag_system_armed = false;
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/* flag if warning about MicroSD card being almost full has already been sent */
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static bool space_warning_sent = false;
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static pthread_t logwriter_pthread = 0;
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static pthread_attr_t logwriter_attr;
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static perf_counter_t perf_write;
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/* Keep track if we've already created a folder named sessXXX because
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* we don't want to create yet another one. */
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static bool sess_folder_created = false;
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/**
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* Log buffer writing thread. Open and close file here.
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*/
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static void *logwriter_thread(void *arg);
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/**
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* SD log management function.
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*/
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__EXPORT int sdlog2_main(int argc, char *argv[]);
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static bool copy_if_updated(orb_id_t topic, int *handle, void *buffer);
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static bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer);
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/**
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* Mainloop of sd log deamon.
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*/
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int sdlog2_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void sdlog2_usage(const char *reason);
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/**
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* Print the current status.
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*/
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static void sdlog2_status(void);
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/**
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* Start logging: create new file and start log writer thread.
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*/
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static void sdlog2_start_log(void);
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/**
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* Stop logging: stop log writer thread and close log file.
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*/
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static void sdlog2_stop_log(void);
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/**
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* Write a header to log file: list of message formats.
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*/
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static int write_formats(int fd);
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/**
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* Write version message to log file.
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*/
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static int write_version(int fd);
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/**
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* Write parameters to log file.
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*/
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static int write_parameters(int fd);
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static bool file_exist(const char *filename);
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/**
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* Check if there is still free space available
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*/
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static int check_free_space(void);
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static void handle_command(struct vehicle_command_s *cmd);
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static void handle_status(struct vehicle_status_s *cmd);
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/**
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* Create dir for current logging session. Store dir name in 'log_dir'.
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*/
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static int create_log_dir(void);
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/**
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* Get the time struct from the currently preferred time source
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*/
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static bool get_log_time_tt(struct tm *tt, bool boot_time);
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/**
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* Select first free log file name and open it.
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*/
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static int open_log_file(void);
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static int open_perf_file(const char* str);
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static void
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sdlog2_usage(const char *reason)
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{
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if (reason) {
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fprintf(stderr, "%s\n", reason);
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}
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PX4_WARN("usage: sdlog2 {start|stop|status|on|off} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
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"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
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"\t-b\tLog buffer size in KiB, default is 8\n"
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"\t-e\tEnable logging by default (if not, can be started by command)\n"
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"\t-a\tLog only when armed (can be still overriden by command)\n"
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"\t-t\tUse date/time for naming log directories and files\n"
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"\t-x\tExtended logging");
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}
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/**
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* The logger deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_spawn().
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*/
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int sdlog2_main(int argc, char *argv[])
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{
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if (argc < 2) {
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sdlog2_usage("missing command");
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return 1;
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}
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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PX4_WARN("already running");
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/* this is not an error */
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return 0;
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}
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// get sdlog priority boost parameter. This can be used to avoid message drops
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// in the log file. However, it considered to be used only for developers.
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param_t prio_boost_handle = param_find("SDLOG_PRIO_BOOST");
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int prio_boost = 0;
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param_get(prio_boost_handle, &prio_boost);
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int task_priority = SCHED_PRIORITY_DEFAULT - 30;
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switch(prio_boost) {
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case 1:
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task_priority = SCHED_PRIORITY_DEFAULT;
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break;
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case 2:
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task_priority = SCHED_PRIORITY_DEFAULT + (SCHED_PRIORITY_MAX - SCHED_PRIORITY_DEFAULT) / 2;
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break;
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case 3:
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task_priority = SCHED_PRIORITY_MAX;
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break;
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default:
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// use default priority already set above
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break;
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}
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main_thread_should_exit = false;
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deamon_task = px4_task_spawn_cmd("sdlog2",
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SCHED_DEFAULT,
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task_priority,
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3400,
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sdlog2_thread_main,
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(char * const *)argv);
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/* wait for the task to launch */
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unsigned const max_wait_us = 1000000;
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unsigned const max_wait_steps = 2000;
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unsigned i;
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for (i = 0; i < max_wait_steps; i++) {
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usleep(max_wait_us / max_wait_steps);
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if (thread_running) {
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break;
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}
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}
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return !(i < max_wait_steps);
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}
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if (!strcmp(argv[1], "stop")) {
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if (!thread_running) {
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PX4_WARN("not started");
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}
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main_thread_should_exit = true;
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return 0;
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}
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if (!thread_running) {
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PX4_WARN("not started\n");
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return 1;
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}
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if (!strcmp(argv[1], "status")) {
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sdlog2_status();
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return 0;
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}
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if (!strncmp(argv[1], "on", 2)) {
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struct vehicle_command_s cmd;
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memset(&cmd, 0, sizeof(cmd));
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cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
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cmd.param1 = -1;
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cmd.param2 = -1;
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cmd.param3 = 1;
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cmd.timestamp = hrt_absolute_time();
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orb_advertise(ORB_ID(vehicle_command), &cmd);
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return 0;
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}
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if (!strcmp(argv[1], "off")) {
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struct vehicle_command_s cmd;
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memset(&cmd, 0, sizeof(cmd));
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cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
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cmd.param1 = -1;
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cmd.param2 = -1;
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cmd.param3 = 2;
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cmd.timestamp = hrt_absolute_time();
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orb_advertise(ORB_ID(vehicle_command), &cmd);
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return 0;
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}
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sdlog2_usage("unrecognized command");
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return 1;
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}
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bool get_log_time_tt(struct tm *tt, bool boot_time) {
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struct timespec ts;
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px4_clock_gettime(CLOCK_REALTIME, &ts);
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/* use RTC time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.px4log */
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time_t utc_time_sec = 0;
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if (_gpstime_only && has_gps_3d_fix) {
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utc_time_sec = gps_time_sec;
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} else {
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utc_time_sec = ts.tv_sec + (ts.tv_nsec / 1e9);
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}
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if (utc_time_sec > PX4_EPOCH_SECS) {
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/* strip the time elapsed since boot */
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if (boot_time) {
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utc_time_sec -= hrt_absolute_time() / 1e6;
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}
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/* apply utc offset (min, not hour) */
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utc_time_sec += _utc_offset*60;
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struct tm *ttp = gmtime_r(&utc_time_sec, tt);
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return (ttp != NULL);
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} else {
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return false;
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}
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}
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int create_log_dir()
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{
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/* create dir on sdcard if needed */
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uint16_t dir_number = 1; // start with dir sess001
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int mkdir_ret;
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struct tm tt;
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bool time_ok = get_log_time_tt(&tt, true);
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if (log_name_timestamp && time_ok) {
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int n = snprintf(log_dir, sizeof(log_dir), "%s/", log_root);
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if (n >= sizeof(log_dir)) {
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PX4_ERR("log path too long");
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return -1;
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}
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strftime(log_dir + n, sizeof(log_dir) - n, "%Y-%m-%d", &tt);
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mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
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if ((mkdir_ret != OK) && (errno != EEXIST)) {
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warn("failed creating new dir: %s", log_dir);
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return -1;
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}
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} else {
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/* Look for the next dir that does not exist.
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* However, if we've already crated a sessXXX folder in this session
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* let's re-use it. */
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while (dir_number <= MAX_NO_LOGFOLDER && !sess_folder_created) {
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/* format log dir: e.g. /fs/microsd/sess001 */
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int n = snprintf(log_dir, sizeof(log_dir), "%s/sess%03u", log_root, dir_number);
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if (n >= sizeof(log_dir)) {
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PX4_ERR("log path too long");
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return -1;
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}
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mkdir_ret = mkdir(log_dir, S_IRWXU | S_IRWXG | S_IRWXO);
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if (mkdir_ret == 0) {
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sess_folder_created = true;
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break;
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} else if (errno != EEXIST) {
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warn("failed creating new dir: %s", log_dir);
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return -1;
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}
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|
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/* dir exists already */
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dir_number++;
|
|
}
|
|
|
|
if (dir_number >= MAX_NO_LOGFOLDER) {
|
|
/* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
|
|
PX4_WARN("all %d possible dirs exist already", MAX_NO_LOGFOLDER);
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
/* print logging path, important to find log file later */
|
|
mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] %s", log_dir);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int open_log_file()
|
|
{
|
|
/* string to hold the path to the log */
|
|
char log_file_name[64] = "";
|
|
char log_file_path[sizeof(log_file_name) + LOG_BASE_PATH_LEN] = "";
|
|
|
|
struct tm tt;
|
|
bool time_ok = get_log_time_tt(&tt, false);
|
|
|
|
/* start logging if we have a valid time and the time is not in the past */
|
|
if (log_name_timestamp && time_ok) {
|
|
strftime(log_file_name, sizeof(log_file_name), "%H_%M_%S.px4log", &tt);
|
|
snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
|
|
|
|
} else {
|
|
uint16_t file_number = 1; // start with file log001
|
|
|
|
/* look for the next file that does not exist */
|
|
while (file_number <= MAX_NO_LOGFILE) {
|
|
/* format log file path: e.g. /fs/microsd/sess001/log001.px4log */
|
|
snprintf(log_file_name, sizeof(log_file_name), "log%03u.px4log", file_number);
|
|
snprintf(log_file_path, sizeof(log_file_path), "%s/%s", log_dir, log_file_name);
|
|
|
|
if (!file_exist(log_file_path)) {
|
|
break;
|
|
}
|
|
|
|
file_number++;
|
|
}
|
|
|
|
if (file_number > MAX_NO_LOGFILE) {
|
|
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
#ifdef __PX4_NUTTX
|
|
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
|
|
#else
|
|
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC, PX4_O_MODE_666);
|
|
#endif
|
|
|
|
if (fd < 0) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
|
|
|
|
} else {
|
|
mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] recording: %s", log_file_name);
|
|
}
|
|
|
|
return fd;
|
|
}
|
|
|
|
int open_perf_file(const char* str)
|
|
{
|
|
/* string to hold the path to the log */
|
|
char log_file_name[64] = "";
|
|
char log_file_path[sizeof(log_file_name) + LOG_BASE_PATH_LEN] = "";
|
|
|
|
struct tm tt;
|
|
bool time_ok = get_log_time_tt(&tt, false);
|
|
|
|
if (log_name_timestamp && time_ok) {
|
|
strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &tt);
|
|
snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
|
|
|
|
} else {
|
|
unsigned file_number = 1; // start with file log001
|
|
|
|
/* look for the next file that does not exist */
|
|
while (file_number <= MAX_NO_LOGFILE) {
|
|
/* format log file path: e.g. /fs/microsd/sess001/log001.txt */
|
|
snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
|
|
snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
|
|
|
|
if (!file_exist(log_file_path)) {
|
|
break;
|
|
}
|
|
|
|
file_number++;
|
|
}
|
|
|
|
if (file_number > MAX_NO_LOGFILE) {
|
|
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
#ifdef __PX4_NUTTX
|
|
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
|
|
#else
|
|
int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC, 0666);
|
|
#endif
|
|
|
|
if (fd < 0) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
|
|
|
|
}
|
|
|
|
return fd;
|
|
}
|
|
|
|
static void *logwriter_thread(void *arg)
|
|
{
|
|
/* set name */
|
|
px4_prctl(PR_SET_NAME, "sdlog2_writer", 0);
|
|
|
|
int log_fd = open_log_file();
|
|
|
|
if (log_fd < 0) {
|
|
return NULL;
|
|
}
|
|
|
|
struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
|
|
|
|
/* write log messages formats, version and parameters */
|
|
log_bytes_written += write_formats(log_fd);
|
|
|
|
log_bytes_written += write_version(log_fd);
|
|
|
|
log_bytes_written += write_parameters(log_fd);
|
|
|
|
fsync(log_fd);
|
|
|
|
int poll_count = 0;
|
|
|
|
void *read_ptr;
|
|
|
|
int n = 0;
|
|
|
|
bool should_wait = false;
|
|
|
|
bool is_part = false;
|
|
|
|
while (true) {
|
|
/* make sure threads are synchronized */
|
|
pthread_mutex_lock(&logbuffer_mutex);
|
|
|
|
/* update read pointer if needed */
|
|
if (n > 0) {
|
|
logbuffer_mark_read(&lb, n);
|
|
}
|
|
|
|
/* only wait if no data is available to process */
|
|
if (should_wait && !logwriter_should_exit) {
|
|
/* blocking wait for new data at this line */
|
|
pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
|
|
}
|
|
|
|
/* 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);
|
|
|
|
/* continue */
|
|
pthread_mutex_unlock(&logbuffer_mutex);
|
|
|
|
if (available > 0) {
|
|
|
|
/* do heavy IO here */
|
|
if (available > MAX_WRITE_CHUNK) {
|
|
n = MAX_WRITE_CHUNK;
|
|
|
|
} else {
|
|
n = available;
|
|
}
|
|
|
|
perf_begin(perf_write);
|
|
n = write(log_fd, read_ptr, n);
|
|
perf_end(perf_write);
|
|
|
|
should_wait = (n == available) && !is_part;
|
|
|
|
if (n < 0) {
|
|
main_thread_should_exit = true;
|
|
warn("error writing log file");
|
|
break;
|
|
}
|
|
|
|
if (n > 0) {
|
|
log_bytes_written += n;
|
|
}
|
|
|
|
} else {
|
|
n = 0;
|
|
|
|
/* exit only with empty buffer */
|
|
if (main_thread_should_exit || logwriter_should_exit) {
|
|
break;
|
|
}
|
|
|
|
should_wait = true;
|
|
}
|
|
|
|
if (++poll_count == 10) {
|
|
fsync(log_fd);
|
|
poll_count = 0;
|
|
|
|
}
|
|
|
|
if (log_bytes_written - last_checked_bytes_written > 20*1024*1024) {
|
|
/* check if space is available, if not stop everything */
|
|
if (check_free_space() != OK) {
|
|
logwriter_should_exit = true;
|
|
main_thread_should_exit = true;
|
|
}
|
|
last_checked_bytes_written = log_bytes_written;
|
|
}
|
|
}
|
|
|
|
fsync(log_fd);
|
|
close(log_fd);
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void sdlog2_start_log()
|
|
{
|
|
if (logging_enabled) {
|
|
return;
|
|
}
|
|
|
|
/* create log dir if needed */
|
|
if (create_log_dir() != 0) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir");
|
|
return;
|
|
}
|
|
|
|
/* initialize statistics counter */
|
|
log_bytes_written = 0;
|
|
start_time = hrt_absolute_time();
|
|
log_msgs_written = 0;
|
|
log_msgs_skipped = 0;
|
|
|
|
/* initialize log buffer emptying thread */
|
|
pthread_attr_init(&logwriter_attr);
|
|
|
|
#if !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR)
|
|
struct sched_param param;
|
|
(void)pthread_attr_getschedparam(&logwriter_attr, ¶m);
|
|
/* low priority, as this is expensive disk I/O. */
|
|
param.sched_priority = SCHED_PRIORITY_DEFAULT - 5;
|
|
if (pthread_attr_setschedparam(&logwriter_attr, ¶m)) {
|
|
PX4_WARN("sdlog2: failed setting sched params");
|
|
}
|
|
#endif
|
|
|
|
pthread_attr_setstacksize(&logwriter_attr, PX4_STACK_ADJUSTED(2048));
|
|
|
|
logwriter_should_exit = false;
|
|
|
|
/* allocate write performance counter */
|
|
perf_write = perf_alloc(PC_ELAPSED, "sd write");
|
|
|
|
/* start log buffer emptying thread */
|
|
if (0 != pthread_create(&logwriter_pthread, &logwriter_attr, logwriter_thread, &lb)) {
|
|
PX4_WARN("error creating logwriter thread");
|
|
}
|
|
|
|
/* write all performance counters */
|
|
hrt_abstime curr_time = hrt_absolute_time();
|
|
struct print_load_s load;
|
|
int perf_fd = open_perf_file("preflight");
|
|
init_print_load_s(curr_time, &load);
|
|
print_load(curr_time, perf_fd, &load);
|
|
dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n");
|
|
perf_print_all(perf_fd);
|
|
dprintf(perf_fd, "\nLOAD PRE-FLIGHT\n\n");
|
|
usleep(500 * 1000);
|
|
print_load(hrt_absolute_time(), perf_fd, &load);
|
|
close(perf_fd);
|
|
|
|
/* reset performance counters to get in-flight min and max values in post flight log */
|
|
perf_reset_all();
|
|
|
|
logging_enabled = true;
|
|
}
|
|
|
|
void sdlog2_stop_log()
|
|
{
|
|
if (!logging_enabled) {
|
|
return;
|
|
}
|
|
|
|
/* disabling the logging will trigger the skipped count to increase,
|
|
* so we take a local copy before interrupting the disk I/O.
|
|
*/
|
|
unsigned long skipped_count = log_msgs_skipped;
|
|
|
|
logging_enabled = false;
|
|
|
|
/* wake up write thread one last time */
|
|
pthread_mutex_lock(&logbuffer_mutex);
|
|
logwriter_should_exit = true;
|
|
pthread_cond_signal(&logbuffer_cond);
|
|
/* unlock, now the writer thread may return */
|
|
pthread_mutex_unlock(&logbuffer_mutex);
|
|
|
|
/* wait for write thread to return */
|
|
int ret;
|
|
|
|
if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
|
|
PX4_WARN("error joining logwriter thread: %i", ret);
|
|
}
|
|
|
|
logwriter_pthread = 0;
|
|
pthread_attr_destroy(&logwriter_attr);
|
|
|
|
/* write all performance counters */
|
|
int perf_fd = open_perf_file("postflight");
|
|
hrt_abstime curr_time = hrt_absolute_time();
|
|
dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n");
|
|
perf_print_all(perf_fd);
|
|
struct print_load_s load;
|
|
dprintf(perf_fd, "\nLOAD POST-FLIGHT\n\n");
|
|
init_print_load_s(curr_time, &load);
|
|
print_load(curr_time, perf_fd, &load);
|
|
sleep(1);
|
|
print_load(hrt_absolute_time(), perf_fd, &load);
|
|
close(perf_fd);
|
|
|
|
/* free log writer performance counter */
|
|
perf_free(perf_write);
|
|
|
|
/* reset the logbuffer */
|
|
logbuffer_reset(&lb);
|
|
|
|
mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] stopped (%lu drops)", skipped_count);
|
|
|
|
sdlog2_status();
|
|
}
|
|
|
|
int write_formats(int fd)
|
|
{
|
|
/* construct message format packet */
|
|
struct {
|
|
LOG_PACKET_HEADER;
|
|
struct log_format_s body;
|
|
} log_msg_format = {
|
|
LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
|
|
};
|
|
|
|
int written = 0;
|
|
|
|
/* fill message format packet for each format and write it */
|
|
for (unsigned i = 0; i < log_formats_num; i++) {
|
|
log_msg_format.body = log_formats[i];
|
|
written += write(fd, &log_msg_format, sizeof(log_msg_format));
|
|
}
|
|
|
|
return written;
|
|
}
|
|
|
|
int write_version(int fd)
|
|
{
|
|
/* construct version message */
|
|
struct {
|
|
LOG_PACKET_HEADER;
|
|
struct log_VER_s body;
|
|
} log_msg_VER = {
|
|
LOG_PACKET_HEADER_INIT(LOG_VER_MSG),
|
|
};
|
|
|
|
/* fill version message and write it */
|
|
strncpy(log_msg_VER.body.fw_git, px4_firmware_version_string(), sizeof(log_msg_VER.body.fw_git));
|
|
strncpy(log_msg_VER.body.arch, px4_board_name(), sizeof(log_msg_VER.body.arch));
|
|
log_msg_VER.body.arch[sizeof(log_msg_VER.body.arch) - 1] = '\0';
|
|
return write(fd, &log_msg_VER, sizeof(log_msg_VER));
|
|
}
|
|
|
|
int write_parameters(int fd)
|
|
{
|
|
/* construct parameter message */
|
|
struct {
|
|
LOG_PACKET_HEADER;
|
|
struct log_PARM_s body;
|
|
} log_msg_PARM = {
|
|
LOG_PACKET_HEADER_INIT(LOG_PARM_MSG),
|
|
};
|
|
|
|
int written = 0;
|
|
param_t params_cnt = param_count();
|
|
|
|
for (param_t param = 0; param < params_cnt; param++) {
|
|
/* fill parameter message and write it */
|
|
strncpy(log_msg_PARM.body.name, param_name(param), sizeof(log_msg_PARM.body.name));
|
|
log_msg_PARM.body.name[sizeof(log_msg_PARM.body.name) - 1] = '\0';
|
|
float value = NAN;
|
|
|
|
switch (param_type(param)) {
|
|
case PARAM_TYPE_INT32: {
|
|
int32_t i;
|
|
param_get(param, &i);
|
|
value = i; // cast integer to float
|
|
break;
|
|
}
|
|
|
|
case PARAM_TYPE_FLOAT:
|
|
param_get(param, &value);
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
log_msg_PARM.body.value = value;
|
|
written += write(fd, &log_msg_PARM, sizeof(log_msg_PARM));
|
|
}
|
|
|
|
return written;
|
|
}
|
|
|
|
bool copy_if_updated(orb_id_t topic, int *handle, void *buffer)
|
|
{
|
|
return copy_if_updated_multi(topic, 0, handle, buffer);
|
|
}
|
|
|
|
bool copy_if_updated_multi(orb_id_t topic, int multi_instance, int *handle, void *buffer)
|
|
{
|
|
bool updated = false;
|
|
|
|
if (*handle < 0) {
|
|
if (OK == orb_exists(topic, multi_instance))
|
|
{
|
|
*handle = orb_subscribe_multi(topic, multi_instance);
|
|
/* copy first data */
|
|
if (*handle >= 0) {
|
|
|
|
/* but only if it has really been updated */
|
|
orb_check(*handle, &updated);
|
|
|
|
if (updated) {
|
|
orb_copy(topic, *handle, buffer);
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
orb_check(*handle, &updated);
|
|
|
|
if (updated) {
|
|
orb_copy(topic, *handle, buffer);
|
|
}
|
|
}
|
|
|
|
return updated;
|
|
}
|
|
|
|
int sdlog2_thread_main(int argc, char *argv[])
|
|
{
|
|
/* default log rate: 50 Hz */
|
|
int32_t log_rate = 50;
|
|
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
|
|
logging_enabled = false;
|
|
/* enable logging on start (-e option) */
|
|
bool log_on_start = false;
|
|
/* enable logging when armed (-a option) */
|
|
bool log_when_armed = false;
|
|
log_name_timestamp = false;
|
|
|
|
flag_system_armed = false;
|
|
|
|
#ifdef __PX4_NUTTX
|
|
/* the NuttX optarg handler does not
|
|
* ignore argv[0] like the POSIX handler
|
|
* does, nor does it deal with non-flag
|
|
* verbs well. So we Remove the application
|
|
* name and the verb.
|
|
*/
|
|
argc -= 2;
|
|
argv += 2;
|
|
#endif
|
|
|
|
int ch;
|
|
|
|
/* don't exit from getopt loop to leave getopt global variables in consistent state,
|
|
* set error flag instead */
|
|
bool err_flag = false;
|
|
|
|
int myoptind = 1;
|
|
const char *myoptarg = NULL;
|
|
while ((ch = px4_getopt(argc, argv, "r:b:eatx", &myoptind, &myoptarg)) != EOF) {
|
|
switch (ch) {
|
|
case 'r': {
|
|
unsigned long r = strtoul(myoptarg, NULL, 10);
|
|
|
|
if (r <= 0) {
|
|
r = 1;
|
|
}
|
|
|
|
log_rate = r;
|
|
}
|
|
break;
|
|
|
|
case 'b': {
|
|
unsigned long s = strtoul(myoptarg, NULL, 10);
|
|
|
|
if (s < 1) {
|
|
s = 1;
|
|
}
|
|
|
|
log_buffer_size = 1024 * s;
|
|
}
|
|
break;
|
|
|
|
case 'e':
|
|
log_on_start = true;
|
|
log_when_armed = true;
|
|
break;
|
|
|
|
case 'a':
|
|
log_when_armed = true;
|
|
break;
|
|
|
|
case 't':
|
|
log_name_timestamp = true;
|
|
break;
|
|
|
|
case 'x':
|
|
_extended_logging = true;
|
|
break;
|
|
|
|
case '?':
|
|
if (optopt == 'c') {
|
|
PX4_WARN("option -%c requires an argument", optopt);
|
|
|
|
} else if (isprint(optopt)) {
|
|
PX4_WARN("unknown option `-%c'", optopt);
|
|
|
|
} else {
|
|
PX4_WARN("unknown option character `\\x%x'", optopt);
|
|
}
|
|
err_flag = true;
|
|
break;
|
|
|
|
default:
|
|
PX4_WARN("unrecognized flag");
|
|
err_flag = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (err_flag) {
|
|
sdlog2_usage(NULL);
|
|
}
|
|
|
|
gps_time_sec = 0;
|
|
|
|
/* interpret logging params */
|
|
int32_t param_log_rate = -1;
|
|
param_t log_rate_ph = param_find("SDLOG_RATE");
|
|
|
|
if (log_rate_ph != PARAM_INVALID) {
|
|
param_get(log_rate_ph, ¶m_log_rate);
|
|
|
|
if (param_log_rate > 0) {
|
|
|
|
/* we can't do more than ~ 500 Hz, even with a massive buffer */
|
|
if (param_log_rate > 250) {
|
|
param_log_rate = 250;
|
|
}
|
|
|
|
} else if (param_log_rate == 0) {
|
|
/* we need at minimum 10 Hz to be able to see anything */
|
|
param_log_rate = 10;
|
|
}
|
|
}
|
|
|
|
// if parameter was provided use it, if not use command line argument
|
|
log_rate = param_log_rate > -1 ? param_log_rate : log_rate;
|
|
|
|
param_t log_ext_ph = param_find("SDLOG_EXT");
|
|
|
|
if (log_ext_ph != PARAM_INVALID) {
|
|
|
|
int32_t param_log_extended;
|
|
param_get(log_ext_ph, ¶m_log_extended);
|
|
|
|
if (param_log_extended > 0) {
|
|
_extended_logging = true;
|
|
} else if (param_log_extended == 0) {
|
|
_extended_logging = false;
|
|
}
|
|
/* any other value means to ignore the parameter, so no else case */
|
|
|
|
}
|
|
|
|
param_t log_gpstime_ph = param_find("SDLOG_GPSTIME");
|
|
|
|
if (log_gpstime_ph != PARAM_INVALID) {
|
|
|
|
int32_t param_log_gpstime;
|
|
param_get(log_gpstime_ph, ¶m_log_gpstime);
|
|
|
|
if (param_log_gpstime > 0) {
|
|
_gpstime_only = true;
|
|
} else if (param_log_gpstime == 0) {
|
|
_gpstime_only = false;
|
|
}
|
|
/* any other value means to ignore the parameter, so no else case */
|
|
|
|
}
|
|
|
|
param_t log_utc_offset = param_find("SDLOG_UTC_OFFSET");
|
|
|
|
if ( log_utc_offset != PARAM_INVALID ) {
|
|
int32_t param_utc_offset;
|
|
param_get(log_utc_offset, ¶m_utc_offset);
|
|
_utc_offset = param_utc_offset;
|
|
}
|
|
|
|
if (check_free_space() != OK) {
|
|
return 1;
|
|
}
|
|
|
|
|
|
/* create log root dir */
|
|
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
|
|
|
|
if (mkdir_ret != 0 && errno != EEXIST) {
|
|
warn("ERR: failed creating log dir: %s", log_root);
|
|
return 1;
|
|
}
|
|
|
|
/* initialize log buffer with specified size */
|
|
PX4_DEBUG("log buffer size: %i bytes", log_buffer_size);
|
|
|
|
if (OK != logbuffer_init(&lb, log_buffer_size)) {
|
|
PX4_WARN("can't allocate log buffer, exiting");
|
|
return 1;
|
|
}
|
|
|
|
struct vehicle_status_s buf_status;
|
|
memset(&buf_status, 0, sizeof(buf_status));
|
|
|
|
struct vehicle_gps_position_s buf_gps_pos;
|
|
memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
|
|
|
|
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));
|
|
|
|
/* There are different log types possible on different platforms. */
|
|
enum {
|
|
LOG_TYPE_NORMAL,
|
|
LOG_TYPE_REPLAY_ONLY,
|
|
LOG_TYPE_ALL
|
|
} log_type;
|
|
|
|
/* Check if we are gathering data for a replay log for ekf2. */
|
|
param_t replay_handle = param_find("EKF2_REC_RPL");
|
|
int32_t tmp = 0;
|
|
param_get(replay_handle, &tmp);
|
|
bool record_replay_log = (bool)tmp;
|
|
|
|
if (record_replay_log) {
|
|
#if defined(__PX4_QURT) || defined(__PX4_POSIX)
|
|
log_type = LOG_TYPE_ALL;
|
|
#else
|
|
log_type = LOG_TYPE_REPLAY_ONLY;
|
|
#endif
|
|
} else {
|
|
log_type = LOG_TYPE_NORMAL;
|
|
}
|
|
|
|
/* warning! using union here to save memory, elements should be used separately! */
|
|
union {
|
|
struct vehicle_command_s cmd;
|
|
struct sensor_combined_s sensor;
|
|
struct vehicle_attitude_s att;
|
|
struct vehicle_attitude_setpoint_s att_sp;
|
|
struct vehicle_rates_setpoint_s rates_sp;
|
|
struct actuator_outputs_s act_outputs;
|
|
struct actuator_controls_s act_controls;
|
|
struct actuator_controls_s act_controls1;
|
|
struct vehicle_local_position_s local_pos;
|
|
struct vehicle_local_position_setpoint_s local_pos_sp;
|
|
struct vehicle_global_position_s global_pos;
|
|
struct position_setpoint_triplet_s triplet;
|
|
struct att_pos_mocap_s att_pos_mocap;
|
|
struct vehicle_local_position_s vision_pos;
|
|
struct vehicle_attitude_s vision_att;
|
|
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 battery_status_s battery;
|
|
struct telemetry_status_s telemetry;
|
|
struct distance_sensor_s distance_sensor;
|
|
struct estimator_status_s estimator_status;
|
|
struct tecs_status_s tecs_status;
|
|
struct system_power_s system_power;
|
|
struct servorail_status_s servorail_status;
|
|
struct satellite_info_s sat_info;
|
|
struct wind_estimate_s wind_estimate;
|
|
struct vtol_vehicle_status_s vtol_status;
|
|
struct time_offset_s time_offset;
|
|
struct mc_att_ctrl_status_s mc_att_ctrl_status;
|
|
struct control_state_s ctrl_state;
|
|
struct ekf2_innovations_s innovations;
|
|
struct camera_trigger_s camera_trigger;
|
|
struct ekf2_replay_s replay;
|
|
struct vehicle_land_detected_s land_detected;
|
|
struct cpuload_s cpuload;
|
|
struct vehicle_gps_position_s dual_gps_pos;
|
|
struct task_stack_info_s task_stack_info;
|
|
} buf;
|
|
|
|
memset(&buf, 0, sizeof(buf));
|
|
|
|
/* log message buffer: header + body */
|
|
#pragma pack(push, 1)
|
|
struct {
|
|
LOG_PACKET_HEADER;
|
|
union {
|
|
struct log_TIME_s log_TIME;
|
|
struct log_ATT_s log_ATT;
|
|
struct log_ATSP_s log_ATSP;
|
|
struct log_IMU_s log_IMU;
|
|
struct log_SENS_s log_SENS;
|
|
struct log_LPOS_s log_LPOS;
|
|
struct log_LPSP_s log_LPSP;
|
|
struct log_GPS_s log_GPS;
|
|
struct log_ATTC_s log_ATTC;
|
|
struct log_STAT_s log_STAT;
|
|
struct log_VTOL_s log_VTOL;
|
|
struct log_RC_s log_RC;
|
|
struct log_OUT_s log_OUT;
|
|
struct log_AIRS_s log_AIRS;
|
|
struct log_ARSP_s log_ARSP;
|
|
struct log_FLOW_s log_FLOW;
|
|
struct log_GPOS_s log_GPOS;
|
|
struct log_GPSP_s log_GPSP;
|
|
struct log_ESC_s log_ESC;
|
|
struct log_GVSP_s log_GVSP;
|
|
struct log_BATT_s log_BATT;
|
|
struct log_DIST_s log_DIST;
|
|
struct log_TEL_s log_TEL;
|
|
struct log_EST0_s log_EST0;
|
|
struct log_EST1_s log_EST1;
|
|
struct log_EST2_s log_EST2;
|
|
struct log_EST3_s log_EST3;
|
|
struct log_PWR_s log_PWR;
|
|
struct log_MOCP_s log_MOCP;
|
|
struct log_VISN_s log_VISN;
|
|
struct log_GS0A_s log_GS0A;
|
|
struct log_GS0B_s log_GS0B;
|
|
struct log_GS1A_s log_GS1A;
|
|
struct log_GS1B_s log_GS1B;
|
|
struct log_TECS_s log_TECS;
|
|
struct log_WIND_s log_WIND;
|
|
struct log_ENCD_s log_ENCD;
|
|
struct log_TSYN_s log_TSYN;
|
|
struct log_MACS_s log_MACS;
|
|
struct log_CTS_s log_CTS;
|
|
struct log_EST4_s log_INO1;
|
|
struct log_EST5_s log_INO2;
|
|
struct log_CAMT_s log_CAMT;
|
|
struct log_RPL1_s log_RPL1;
|
|
struct log_RPL2_s log_RPL2;
|
|
struct log_EST6_s log_INO3;
|
|
struct log_RPL3_s log_RPL3;
|
|
struct log_RPL4_s log_RPL4;
|
|
struct log_RPL5_s log_RPL5;
|
|
struct log_LAND_s log_LAND;
|
|
struct log_RPL6_s log_RPL6;
|
|
struct log_LOAD_s log_LOAD;
|
|
struct log_DPRS_s log_DPRS;
|
|
struct log_STCK_s log_STCK;
|
|
} body;
|
|
} log_msg = {
|
|
LOG_PACKET_HEADER_INIT(0)
|
|
};
|
|
#pragma pack(pop)
|
|
memset(&log_msg.body, 0, sizeof(log_msg.body));
|
|
|
|
struct {
|
|
int cmd_sub;
|
|
int status_sub;
|
|
int vtol_status_sub;
|
|
int sensor_sub;
|
|
int att_sub;
|
|
int att_sp_sub;
|
|
int rates_sp_sub;
|
|
int act_outputs_sub;
|
|
int act_outputs_1_sub;
|
|
int act_controls_sub;
|
|
int act_controls_1_sub;
|
|
int local_pos_sub;
|
|
int local_pos_sp_sub;
|
|
int global_pos_sub;
|
|
int triplet_sub;
|
|
int gps_pos_sub[2];
|
|
int sat_info_sub;
|
|
int att_pos_mocap_sub;
|
|
int vision_pos_sub;
|
|
int vision_att_sub;
|
|
int flow_sub;
|
|
int rc_sub;
|
|
int airspeed_sub;
|
|
int esc_sub;
|
|
int battery_sub;
|
|
int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
|
|
int distance_sensor_sub;
|
|
int estimator_status_sub;
|
|
int tecs_status_sub;
|
|
int system_power_sub;
|
|
int servorail_status_sub;
|
|
int wind_sub;
|
|
int tsync_sub;
|
|
int mc_att_ctrl_status_sub;
|
|
int ctrl_state_sub;
|
|
int innov_sub;
|
|
int cam_trig_sub;
|
|
int replay_sub;
|
|
int land_detected_sub;
|
|
int commander_state_sub;
|
|
int cpuload_sub;
|
|
int diff_pres_sub;
|
|
int task_stack_info_sub;
|
|
} subs;
|
|
|
|
subs.cmd_sub = -1;
|
|
subs.status_sub = -1;
|
|
subs.vtol_status_sub = -1;
|
|
subs.gps_pos_sub[0] = -1;
|
|
subs.gps_pos_sub[1] = -1;
|
|
subs.sensor_sub = -1;
|
|
subs.att_sub = -1;
|
|
subs.att_sp_sub = -1;
|
|
subs.rates_sp_sub = -1;
|
|
subs.act_outputs_sub = -1;
|
|
subs.act_outputs_1_sub = -1;
|
|
subs.act_controls_sub = -1;
|
|
subs.act_controls_1_sub = -1;
|
|
subs.local_pos_sub = -1;
|
|
subs.local_pos_sp_sub = -1;
|
|
subs.global_pos_sub = -1;
|
|
subs.triplet_sub = -1;
|
|
subs.att_pos_mocap_sub = -1;
|
|
subs.vision_pos_sub = -1;
|
|
subs.vision_att_sub = -1;
|
|
subs.flow_sub = -1;
|
|
subs.rc_sub = -1;
|
|
subs.airspeed_sub = -1;
|
|
subs.esc_sub = -1;
|
|
subs.battery_sub = -1;
|
|
subs.distance_sensor_sub = -1;
|
|
subs.estimator_status_sub = -1;
|
|
subs.tecs_status_sub = -1;
|
|
subs.system_power_sub = -1;
|
|
subs.servorail_status_sub = -1;
|
|
subs.wind_sub = -1;
|
|
subs.tsync_sub = -1;
|
|
subs.mc_att_ctrl_status_sub = -1;
|
|
subs.ctrl_state_sub = -1;
|
|
subs.innov_sub = -1;
|
|
subs.cam_trig_sub = -1;
|
|
subs.replay_sub = -1;
|
|
subs.land_detected_sub = -1;
|
|
subs.commander_state_sub = -1;
|
|
subs.cpuload_sub = -1;
|
|
subs.diff_pres_sub = -1;
|
|
subs.task_stack_info_sub = -1;
|
|
|
|
/* add new topics HERE */
|
|
|
|
|
|
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
|
|
subs.telemetry_subs[i] = -1;
|
|
}
|
|
|
|
subs.sat_info_sub = -1;
|
|
|
|
/* initialize thread synchronization */
|
|
pthread_mutex_init(&logbuffer_mutex, NULL);
|
|
pthread_cond_init(&logbuffer_cond, NULL);
|
|
|
|
/* track changes in sensor_combined topic */
|
|
hrt_abstime gyro_timestamp = 0;
|
|
hrt_abstime accelerometer_timestamp = 0;
|
|
hrt_abstime magnetometer_timestamp = 0;
|
|
hrt_abstime barometer_timestamp = 0;
|
|
|
|
/* initialize calculated mean SNR */
|
|
float snr_mean = 0.0f;
|
|
|
|
/* enable logging on start if needed */
|
|
if (log_on_start) {
|
|
/* check GPS topic to get GPS time */
|
|
if (log_name_timestamp) {
|
|
if (!copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos)) {
|
|
gps_time_sec = buf_gps_pos.time_utc_usec / 1e6;
|
|
}
|
|
}
|
|
|
|
sdlog2_start_log();
|
|
}
|
|
|
|
/* running, report */
|
|
thread_running = true;
|
|
|
|
// wakeup source
|
|
px4_pollfd_struct_t fds[2];
|
|
unsigned px4_pollfd_len = 0;
|
|
|
|
int poll_counter = 0;
|
|
|
|
int poll_to_logging_factor = 1;
|
|
|
|
switch (log_type) {
|
|
case LOG_TYPE_ALL:
|
|
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
|
fds[0].fd = subs.sensor_sub;
|
|
fds[0].events = POLLIN;
|
|
|
|
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay));
|
|
fds[1].fd = subs.replay_sub;
|
|
fds[1].events = POLLIN;
|
|
|
|
px4_pollfd_len = 2;
|
|
|
|
poll_to_logging_factor = 1;
|
|
|
|
break;
|
|
|
|
case LOG_TYPE_NORMAL:
|
|
|
|
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
|
fds[0].fd = subs.sensor_sub;
|
|
fds[0].events = POLLIN;
|
|
|
|
px4_pollfd_len = 1;
|
|
|
|
// TODO Remove hardcoded rate!
|
|
poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate);
|
|
|
|
break;
|
|
|
|
case LOG_TYPE_REPLAY_ONLY:
|
|
|
|
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay));
|
|
fds[0].fd = subs.replay_sub;
|
|
fds[0].events = POLLIN;
|
|
|
|
px4_pollfd_len = 1;
|
|
|
|
poll_to_logging_factor = 1;
|
|
|
|
break;
|
|
}
|
|
|
|
if (poll_to_logging_factor < 1) {
|
|
poll_to_logging_factor = 1;
|
|
}
|
|
|
|
|
|
while (!main_thread_should_exit) {
|
|
|
|
/* Check below's topics first even if logging is not enabled.
|
|
* We need to do this because should only poll further below if we're
|
|
* actually going to orb_copy the data after the poll. */
|
|
|
|
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf_cmd)) {
|
|
handle_command(&buf_cmd);
|
|
}
|
|
|
|
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
|
|
bool status_updated = copy_if_updated(ORB_ID(vehicle_status), &subs.status_sub, &buf_status);
|
|
|
|
if (status_updated) {
|
|
if (log_when_armed) {
|
|
handle_status(&buf_status);
|
|
}
|
|
}
|
|
|
|
/* --- GPS POSITION - LOG MANAGEMENT --- */
|
|
bool gps_pos_updated = copy_if_updated_multi(ORB_ID(vehicle_gps_position), 0, &subs.gps_pos_sub[0], &buf_gps_pos);
|
|
|
|
if (gps_pos_updated && log_name_timestamp) {
|
|
gps_time_sec = buf_gps_pos.time_utc_usec / 1e6;
|
|
has_gps_3d_fix = buf_gps_pos.fix_type == 3;
|
|
}
|
|
|
|
if (!logging_enabled) {
|
|
usleep(50000);
|
|
continue;
|
|
}
|
|
|
|
// wait for up to 100ms for data
|
|
int pret = px4_poll(&fds[0], px4_pollfd_len, 100);
|
|
|
|
// timed out - periodic check for _task_should_exit
|
|
if (pret == 0) {
|
|
continue;
|
|
}
|
|
|
|
// this is undesirable but not much we can do - might want to flag unhappy status
|
|
if (pret < 0) {
|
|
PX4_WARN("poll error %d, %d", pret, errno);
|
|
// sleep a bit before next try
|
|
usleep(100000);
|
|
continue;
|
|
}
|
|
|
|
if ((poll_counter+1) >= poll_to_logging_factor) {
|
|
poll_counter = 0;
|
|
} else {
|
|
|
|
/* In this case, we still need to do orb_copy, otherwise we'll stall. */
|
|
switch (log_type) {
|
|
case LOG_TYPE_ALL:
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
|
|
}
|
|
|
|
if (fds[1].revents & POLLIN) {
|
|
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
|
}
|
|
break;
|
|
|
|
case LOG_TYPE_NORMAL:
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
|
|
}
|
|
break;
|
|
|
|
case LOG_TYPE_REPLAY_ONLY:
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
|
}
|
|
break;
|
|
}
|
|
poll_counter++;
|
|
continue;
|
|
}
|
|
|
|
/* write time stamp message */
|
|
log_msg.msg_type = LOG_TIME_MSG;
|
|
log_msg.body.log_TIME.t = hrt_absolute_time();
|
|
LOGBUFFER_WRITE_AND_COUNT(TIME);
|
|
|
|
/* --- 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;
|
|
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;
|
|
log_msg.body.log_STAT.is_rot_wing = (uint8_t)buf_status.is_rotary_wing;
|
|
LOGBUFFER_WRITE_AND_COUNT(STAT);
|
|
}
|
|
|
|
/* --- EKF2 REPLAY --- */
|
|
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_REPLAY_ONLY) {
|
|
|
|
bool replay_updated = false;
|
|
|
|
if (log_type == LOG_TYPE_ALL) {
|
|
|
|
if (fds[1].revents & POLLIN) {
|
|
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
|
replay_updated = true;
|
|
}
|
|
|
|
} else if (log_type == LOG_TYPE_REPLAY_ONLY) {
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
|
replay_updated = true;
|
|
}
|
|
}
|
|
|
|
if (replay_updated) {
|
|
log_msg.msg_type = LOG_RPL1_MSG;
|
|
log_msg.body.log_RPL1.time_ref = buf.replay.timestamp;
|
|
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
|
|
log_msg.body.log_RPL1.accelerometer_integral_dt = buf.replay.accelerometer_integral_dt;
|
|
log_msg.body.log_RPL1.magnetometer_timestamp = buf.replay.magnetometer_timestamp;
|
|
log_msg.body.log_RPL1.baro_timestamp = buf.replay.baro_timestamp;
|
|
log_msg.body.log_RPL1.gyro_x_rad = buf.replay.gyro_rad[0];
|
|
log_msg.body.log_RPL1.gyro_y_rad = buf.replay.gyro_rad[1];
|
|
log_msg.body.log_RPL1.gyro_z_rad = buf.replay.gyro_rad[2];
|
|
log_msg.body.log_RPL1.accelerometer_x_m_s2 = buf.replay.accelerometer_m_s2[0];
|
|
log_msg.body.log_RPL1.accelerometer_y_m_s2 = buf.replay.accelerometer_m_s2[1];
|
|
log_msg.body.log_RPL1.accelerometer_z_m_s2 = buf.replay.accelerometer_m_s2[2];
|
|
log_msg.body.log_RPL1.magnetometer_x_ga = buf.replay.magnetometer_ga[0];
|
|
log_msg.body.log_RPL1.magnetometer_y_ga = buf.replay.magnetometer_ga[1];
|
|
log_msg.body.log_RPL1.magnetometer_z_ga = buf.replay.magnetometer_ga[2];
|
|
log_msg.body.log_RPL1.baro_alt_meter = buf.replay.baro_alt_meter;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL1);
|
|
|
|
// only log the gps replay data if it actually updated
|
|
if (buf.replay.time_usec > 0) {
|
|
log_msg.msg_type = LOG_RPL2_MSG;
|
|
log_msg.body.log_RPL2.time_pos_usec = buf.replay.time_usec;
|
|
log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec;
|
|
log_msg.body.log_RPL2.lat = buf.replay.lat;
|
|
log_msg.body.log_RPL2.lon = buf.replay.lon;
|
|
log_msg.body.log_RPL2.alt = buf.replay.alt;
|
|
log_msg.body.log_RPL2.fix_type = buf.replay.fix_type;
|
|
log_msg.body.log_RPL2.nsats = buf.replay.nsats;
|
|
log_msg.body.log_RPL2.eph = buf.replay.eph;
|
|
log_msg.body.log_RPL2.epv = buf.replay.epv;
|
|
log_msg.body.log_RPL2.sacc = buf.replay.sacc;
|
|
log_msg.body.log_RPL2.vel_m_s = buf.replay.vel_m_s;
|
|
log_msg.body.log_RPL2.vel_n_m_s = buf.replay.vel_n_m_s;
|
|
log_msg.body.log_RPL2.vel_e_m_s = buf.replay.vel_e_m_s;
|
|
log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
|
|
log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL2);
|
|
}
|
|
|
|
if (buf.replay.flow_timestamp > 0) {
|
|
log_msg.msg_type = LOG_RPL3_MSG;
|
|
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
|
|
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
|
|
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
|
|
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
|
|
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
|
|
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
|
|
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL3);
|
|
}
|
|
|
|
if (buf.replay.rng_timestamp > 0) {
|
|
log_msg.msg_type = LOG_RPL4_MSG;
|
|
log_msg.body.log_RPL4.time_rng_usec = buf.replay.rng_timestamp;
|
|
log_msg.body.log_RPL4.range_to_ground = buf.replay.range_to_ground;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL4);
|
|
}
|
|
|
|
if (buf.replay.asp_timestamp > 0) {
|
|
log_msg.msg_type = LOG_RPL6_MSG;
|
|
log_msg.body.log_RPL6.time_airs_usec = buf.replay.asp_timestamp;
|
|
log_msg.body.log_RPL6.indicated_airspeed_m_s = buf.replay.indicated_airspeed_m_s;
|
|
log_msg.body.log_RPL6.true_airspeed_m_s = buf.replay.true_airspeed_m_s;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL6);
|
|
}
|
|
|
|
if (buf.replay.ev_timestamp > 0) {
|
|
log_msg.msg_type = LOG_RPL5_MSG;
|
|
log_msg.body.log_RPL5.time_ev_usec = buf.replay.ev_timestamp;
|
|
log_msg.body.log_RPL5.x = buf.replay.pos_ev[0];
|
|
log_msg.body.log_RPL5.y = buf.replay.pos_ev[1];
|
|
log_msg.body.log_RPL5.z = buf.replay.pos_ev[2];
|
|
log_msg.body.log_RPL5.q0 = buf.replay.quat_ev[0];
|
|
log_msg.body.log_RPL5.q1 = buf.replay.quat_ev[1];
|
|
log_msg.body.log_RPL5.q2 = buf.replay.quat_ev[2];
|
|
log_msg.body.log_RPL5.q3 = buf.replay.quat_ev[3];
|
|
log_msg.body.log_RPL5.pos_err = buf.replay.pos_err;
|
|
log_msg.body.log_RPL5.ang_err = buf.replay.ang_err;
|
|
LOGBUFFER_WRITE_AND_COUNT(RPL5);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_NORMAL) {
|
|
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
|
|
|
|
bool write_IMU = false;
|
|
bool write_SENS = false;
|
|
|
|
if (buf.sensor.timestamp != gyro_timestamp) {
|
|
gyro_timestamp = buf.sensor.timestamp;
|
|
write_IMU = true;
|
|
}
|
|
|
|
if (buf.sensor.timestamp + buf.sensor.accelerometer_timestamp_relative != accelerometer_timestamp) {
|
|
accelerometer_timestamp = buf.sensor.timestamp + buf.sensor.accelerometer_timestamp_relative;
|
|
write_IMU = true;
|
|
}
|
|
|
|
if (buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative != magnetometer_timestamp) {
|
|
magnetometer_timestamp = buf.sensor.timestamp + buf.sensor.magnetometer_timestamp_relative;
|
|
write_IMU = true;
|
|
}
|
|
|
|
if (buf.sensor.timestamp + buf.sensor.baro_timestamp_relative != barometer_timestamp) {
|
|
barometer_timestamp = buf.sensor.timestamp + buf.sensor.baro_timestamp_relative;
|
|
write_SENS = true;
|
|
}
|
|
|
|
if (write_IMU) {
|
|
log_msg.msg_type = LOG_IMU_MSG;
|
|
|
|
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad[0];
|
|
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad[1];
|
|
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad[2];
|
|
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
|
|
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
|
|
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
|
|
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
|
|
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
|
|
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
|
|
log_msg.body.log_IMU.temp_gyro = 0;
|
|
log_msg.body.log_IMU.temp_acc = 0;
|
|
log_msg.body.log_IMU.temp_mag = 0;
|
|
LOGBUFFER_WRITE_AND_COUNT(IMU);
|
|
}
|
|
|
|
if (write_SENS) {
|
|
log_msg.msg_type = LOG_SENS_MSG;
|
|
|
|
log_msg.body.log_SENS.baro_pres = 0;
|
|
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
|
|
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
|
|
LOGBUFFER_WRITE_AND_COUNT(SENS);
|
|
}
|
|
}
|
|
|
|
/* --- VTOL VEHICLE STATUS --- */
|
|
if(copy_if_updated(ORB_ID(vtol_vehicle_status), &subs.vtol_status_sub, &buf.vtol_status)) {
|
|
log_msg.msg_type = LOG_VTOL_MSG;
|
|
log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot;
|
|
log_msg.body.log_VTOL.rw_mode = buf.vtol_status.vtol_in_rw_mode;
|
|
log_msg.body.log_VTOL.trans_mode = buf.vtol_status.vtol_in_trans_mode;
|
|
log_msg.body.log_VTOL.failsafe_mode = buf.vtol_status.vtol_transition_failsafe;
|
|
LOGBUFFER_WRITE_AND_COUNT(VTOL);
|
|
}
|
|
|
|
/* --- GPS POSITION - UNIT #1 --- */
|
|
if (gps_pos_updated) {
|
|
|
|
log_msg.msg_type = LOG_GPS_MSG;
|
|
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_utc_usec;
|
|
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
|
|
log_msg.body.log_GPS.eph = buf_gps_pos.eph;
|
|
log_msg.body.log_GPS.epv = buf_gps_pos.epv;
|
|
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
|
|
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
|
|
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
|
|
log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s;
|
|
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
|
|
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
|
|
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
|
|
log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used;
|
|
log_msg.body.log_GPS.snr_mean = snr_mean;
|
|
log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms;
|
|
log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator;
|
|
LOGBUFFER_WRITE_AND_COUNT(GPS);
|
|
}
|
|
|
|
/* --- GPS POSITION - UNIT #2 --- */
|
|
if (copy_if_updated_multi(ORB_ID(vehicle_gps_position), 1, &subs.gps_pos_sub[1], &buf.dual_gps_pos)) {
|
|
log_msg.msg_type = LOG_DGPS_MSG;
|
|
log_msg.body.log_GPS.gps_time = buf.dual_gps_pos.time_utc_usec;
|
|
log_msg.body.log_GPS.fix_type = buf.dual_gps_pos.fix_type;
|
|
log_msg.body.log_GPS.eph = buf.dual_gps_pos.eph;
|
|
log_msg.body.log_GPS.epv = buf.dual_gps_pos.epv;
|
|
log_msg.body.log_GPS.lat = buf.dual_gps_pos.lat;
|
|
log_msg.body.log_GPS.lon = buf.dual_gps_pos.lon;
|
|
log_msg.body.log_GPS.alt = buf.dual_gps_pos.alt * 0.001f;
|
|
log_msg.body.log_GPS.vel_n = buf.dual_gps_pos.vel_n_m_s;
|
|
log_msg.body.log_GPS.vel_e = buf.dual_gps_pos.vel_e_m_s;
|
|
log_msg.body.log_GPS.vel_d = buf.dual_gps_pos.vel_d_m_s;
|
|
log_msg.body.log_GPS.cog = buf.dual_gps_pos.cog_rad;
|
|
log_msg.body.log_GPS.sats = buf.dual_gps_pos.satellites_used;
|
|
log_msg.body.log_GPS.snr_mean = snr_mean;
|
|
log_msg.body.log_GPS.noise_per_ms = buf.dual_gps_pos.noise_per_ms;
|
|
log_msg.body.log_GPS.jamming_indicator = buf.dual_gps_pos.jamming_indicator;
|
|
LOGBUFFER_WRITE_AND_COUNT(GPS);
|
|
}
|
|
|
|
/* --- SATELLITE INFO - UNIT #1 --- */
|
|
if (_extended_logging) {
|
|
|
|
if (copy_if_updated(ORB_ID(satellite_info), &subs.sat_info_sub, &buf.sat_info)) {
|
|
|
|
/* log the SNR of each satellite for a detailed view of signal quality */
|
|
unsigned sat_info_count = SDLOG_MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
|
|
unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
|
|
|
|
log_msg.msg_type = LOG_GS0A_MSG;
|
|
memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
|
|
snr_mean = 0.0f;
|
|
|
|
/* fill set A and calculate mean SNR */
|
|
for (unsigned i = 0; i < sat_info_count; i++) {
|
|
|
|
snr_mean += buf.sat_info.snr[i];
|
|
|
|
int satindex = buf.sat_info.svid[i] - 1;
|
|
|
|
/* handles index exceeding and wraps to to arithmetic errors */
|
|
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
|
|
/* map satellites by their ID so that logs from two receivers can be compared */
|
|
log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i];
|
|
}
|
|
}
|
|
LOGBUFFER_WRITE_AND_COUNT(GS0A);
|
|
snr_mean /= sat_info_count;
|
|
|
|
log_msg.msg_type = LOG_GS0B_MSG;
|
|
memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
|
|
|
|
/* fill set B */
|
|
for (unsigned i = 0; i < sat_info_count; i++) {
|
|
|
|
/* get second bank of satellites, thus deduct bank size from index */
|
|
int satindex = buf.sat_info.svid[i] - 1 - log_max_snr;
|
|
|
|
/* handles index exceeding and wraps to to arithmetic errors */
|
|
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
|
|
/* map satellites by their ID so that logs from two receivers can be compared */
|
|
log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i];
|
|
}
|
|
}
|
|
LOGBUFFER_WRITE_AND_COUNT(GS0B);
|
|
}
|
|
}
|
|
|
|
/* --- ATTITUDE SETPOINT --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), &subs.att_sp_sub, &buf.att_sp)) {
|
|
log_msg.msg_type = LOG_ATSP_MSG;
|
|
log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
|
|
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
|
|
log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body;
|
|
log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust;
|
|
log_msg.body.log_ATSP.q_w = buf.att_sp.q_d[0];
|
|
log_msg.body.log_ATSP.q_x = buf.att_sp.q_d[1];
|
|
log_msg.body.log_ATSP.q_y = buf.att_sp.q_d[2];
|
|
log_msg.body.log_ATSP.q_z = buf.att_sp.q_d[3];
|
|
LOGBUFFER_WRITE_AND_COUNT(ATSP);
|
|
}
|
|
|
|
/* --- RATES SETPOINT --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), &subs.rates_sp_sub, &buf.rates_sp)) {
|
|
log_msg.msg_type = LOG_ARSP_MSG;
|
|
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
|
|
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
|
|
log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
|
|
LOGBUFFER_WRITE_AND_COUNT(ARSP);
|
|
}
|
|
|
|
/* --- ACTUATOR OUTPUTS --- */
|
|
if (copy_if_updated_multi(ORB_ID(actuator_outputs), 0, &subs.act_outputs_sub, &buf.act_outputs)) {
|
|
log_msg.msg_type = LOG_OUT0_MSG;
|
|
memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
|
|
LOGBUFFER_WRITE_AND_COUNT(OUT);
|
|
}
|
|
|
|
if (copy_if_updated_multi(ORB_ID(actuator_outputs), 1, &subs.act_outputs_1_sub, &buf.act_outputs)) {
|
|
log_msg.msg_type = LOG_OUT1_MSG;
|
|
memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
|
|
LOGBUFFER_WRITE_AND_COUNT(OUT);
|
|
}
|
|
|
|
/* --- ACTUATOR CONTROL --- */
|
|
if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &subs.act_controls_sub, &buf.act_controls)) {
|
|
log_msg.msg_type = LOG_ATTC_MSG;
|
|
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
|
|
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
|
|
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
|
|
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
|
|
LOGBUFFER_WRITE_AND_COUNT(ATTC);
|
|
}
|
|
|
|
/* --- ACTUATOR CONTROL FW VTOL --- */
|
|
if(copy_if_updated(ORB_ID(actuator_controls_1), &subs.act_controls_1_sub,&buf.act_controls)) {
|
|
log_msg.msg_type = LOG_ATC1_MSG;
|
|
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
|
|
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
|
|
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
|
|
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
|
|
LOGBUFFER_WRITE_AND_COUNT(ATTC);
|
|
}
|
|
|
|
/* --- LOCAL POSITION --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_local_position), &subs.local_pos_sub, &buf.local_pos)) {
|
|
log_msg.msg_type = LOG_LPOS_MSG;
|
|
log_msg.body.log_LPOS.x = buf.local_pos.x;
|
|
log_msg.body.log_LPOS.y = buf.local_pos.y;
|
|
log_msg.body.log_LPOS.z = buf.local_pos.z;
|
|
log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom;
|
|
log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate;
|
|
log_msg.body.log_LPOS.vx = buf.local_pos.vx;
|
|
log_msg.body.log_LPOS.vy = buf.local_pos.vy;
|
|
log_msg.body.log_LPOS.vz = buf.local_pos.vz;
|
|
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
|
|
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
|
|
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
|
|
log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
|
|
(buf.local_pos.z_valid ? 2 : 0) |
|
|
(buf.local_pos.v_xy_valid ? 4 : 0) |
|
|
(buf.local_pos.v_z_valid ? 8 : 0) |
|
|
(buf.local_pos.xy_global ? 16 : 0) |
|
|
(buf.local_pos.z_global ? 32 : 0);
|
|
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
|
|
log_msg.body.log_LPOS.eph = buf.local_pos.eph;
|
|
log_msg.body.log_LPOS.epv = buf.local_pos.epv;
|
|
LOGBUFFER_WRITE_AND_COUNT(LPOS);
|
|
}
|
|
|
|
/* --- LOCAL POSITION SETPOINT --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), &subs.local_pos_sp_sub, &buf.local_pos_sp)) {
|
|
log_msg.msg_type = LOG_LPSP_MSG;
|
|
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
|
|
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
|
|
log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
|
|
log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
|
|
log_msg.body.log_LPSP.vx = buf.local_pos_sp.vx;
|
|
log_msg.body.log_LPSP.vy = buf.local_pos_sp.vy;
|
|
log_msg.body.log_LPSP.vz = buf.local_pos_sp.vz;
|
|
log_msg.body.log_LPSP.acc_x = buf.local_pos_sp.acc_x;
|
|
log_msg.body.log_LPSP.acc_y = buf.local_pos_sp.acc_y;
|
|
log_msg.body.log_LPSP.acc_z = buf.local_pos_sp.acc_z;
|
|
LOGBUFFER_WRITE_AND_COUNT(LPSP);
|
|
}
|
|
|
|
/* --- GLOBAL POSITION --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_global_position), &subs.global_pos_sub, &buf.global_pos)) {
|
|
log_msg.msg_type = LOG_GPOS_MSG;
|
|
log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
|
|
log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
|
|
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
|
|
log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
|
|
log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
|
|
log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
|
|
log_msg.body.log_GPOS.eph = buf.global_pos.eph;
|
|
log_msg.body.log_GPOS.epv = buf.global_pos.epv;
|
|
if (buf.global_pos.terrain_alt_valid) {
|
|
log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt;
|
|
} else {
|
|
log_msg.body.log_GPOS.terrain_alt = -1.0f;
|
|
}
|
|
LOGBUFFER_WRITE_AND_COUNT(GPOS);
|
|
}
|
|
|
|
/* --- BATTERY --- */
|
|
if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) {
|
|
log_msg.msg_type = LOG_BATT_MSG;
|
|
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
|
|
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
|
|
log_msg.body.log_BATT.current = buf.battery.current_a;
|
|
log_msg.body.log_BATT.current_filtered = buf.battery.current_filtered_a;
|
|
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
|
|
log_msg.body.log_BATT.remaining = buf.battery.remaining;
|
|
log_msg.body.log_BATT.scale = buf.battery.scale;
|
|
log_msg.body.log_BATT.warning = buf.battery.warning;
|
|
LOGBUFFER_WRITE_AND_COUNT(BATT);
|
|
}
|
|
|
|
/* --- GLOBAL POSITION SETPOINT --- */
|
|
if (copy_if_updated(ORB_ID(position_setpoint_triplet), &subs.triplet_sub, &buf.triplet)) {
|
|
|
|
if (buf.triplet.current.valid) {
|
|
log_msg.msg_type = LOG_GPSP_MSG;
|
|
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * (double)1e7);
|
|
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * (double)1e7);
|
|
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
|
|
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
|
|
log_msg.body.log_GPSP.type = buf.triplet.current.type;
|
|
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
|
|
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
|
|
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
|
|
LOGBUFFER_WRITE_AND_COUNT(GPSP);
|
|
}
|
|
}
|
|
|
|
/* --- MOCAP ATTITUDE AND POSITION --- */
|
|
if (copy_if_updated(ORB_ID(att_pos_mocap), &subs.att_pos_mocap_sub, &buf.att_pos_mocap)) {
|
|
log_msg.msg_type = LOG_MOCP_MSG;
|
|
log_msg.body.log_MOCP.qw = buf.att_pos_mocap.q[0];
|
|
log_msg.body.log_MOCP.qx = buf.att_pos_mocap.q[1];
|
|
log_msg.body.log_MOCP.qy = buf.att_pos_mocap.q[2];
|
|
log_msg.body.log_MOCP.qz = buf.att_pos_mocap.q[3];
|
|
log_msg.body.log_MOCP.x = buf.att_pos_mocap.x;
|
|
log_msg.body.log_MOCP.y = buf.att_pos_mocap.y;
|
|
log_msg.body.log_MOCP.z = buf.att_pos_mocap.z;
|
|
LOGBUFFER_WRITE_AND_COUNT(MOCP);
|
|
}
|
|
|
|
/* --- VISION POSITION --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_vision_position), &subs.vision_pos_sub, &buf.vision_pos) ||
|
|
copy_if_updated(ORB_ID(vehicle_vision_attitude), &subs.vision_att_sub, &buf.vision_att)) {
|
|
log_msg.msg_type = LOG_VISN_MSG;
|
|
log_msg.body.log_VISN.x = buf.vision_pos.x;
|
|
log_msg.body.log_VISN.y = buf.vision_pos.y;
|
|
log_msg.body.log_VISN.z = buf.vision_pos.z;
|
|
log_msg.body.log_VISN.vx = buf.vision_pos.vx;
|
|
log_msg.body.log_VISN.vy = buf.vision_pos.vy;
|
|
log_msg.body.log_VISN.vz = buf.vision_pos.vz;
|
|
log_msg.body.log_VISN.qw = buf.vision_att.q[0]; // vision_position_estimate uses [w,x,y,z] convention
|
|
log_msg.body.log_VISN.qx = buf.vision_att.q[1];
|
|
log_msg.body.log_VISN.qy = buf.vision_att.q[2];
|
|
log_msg.body.log_VISN.qz = buf.vision_att.q[3];
|
|
LOGBUFFER_WRITE_AND_COUNT(VISN);
|
|
}
|
|
|
|
/* --- FLOW --- */
|
|
if (copy_if_updated(ORB_ID(optical_flow), &subs.flow_sub, &buf.flow)) {
|
|
log_msg.msg_type = LOG_FLOW_MSG;
|
|
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
|
|
log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature;
|
|
log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral;
|
|
log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral;
|
|
log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral;
|
|
log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan;
|
|
log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral;
|
|
log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral;
|
|
log_msg.body.log_FLOW.quality = buf.flow.quality;
|
|
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
|
|
LOGBUFFER_WRITE_AND_COUNT(FLOW);
|
|
}
|
|
|
|
/* --- RC CHANNELS --- */
|
|
if (copy_if_updated(ORB_ID(rc_channels), &subs.rc_sub, &buf.rc)) {
|
|
log_msg.msg_type = LOG_RC_MSG;
|
|
/* Copy only the first 12 channels of 18 */
|
|
memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
|
|
log_msg.body.log_RC.rssi = buf.rc.rssi;
|
|
log_msg.body.log_RC.channel_count = buf.rc.channel_count;
|
|
log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
|
|
log_msg.body.log_RC.frame_drop = buf.rc.frame_drop_count;
|
|
LOGBUFFER_WRITE_AND_COUNT(RC);
|
|
}
|
|
|
|
/* --- AIRSPEED --- */
|
|
if (copy_if_updated(ORB_ID(airspeed), &subs.airspeed_sub, &buf.airspeed)) {
|
|
log_msg.msg_type = LOG_AIRS_MSG;
|
|
log_msg.body.log_AIRS.indicated_airspeed_m_s = buf.airspeed.indicated_airspeed_m_s;
|
|
log_msg.body.log_AIRS.true_airspeed_m_s = buf.airspeed.true_airspeed_m_s;
|
|
log_msg.body.log_AIRS.true_airspeed_unfiltered_m_s = buf.airspeed.true_airspeed_unfiltered_m_s;
|
|
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
|
|
log_msg.body.log_AIRS.confidence = buf.airspeed.confidence;
|
|
LOGBUFFER_WRITE_AND_COUNT(AIRS);
|
|
}
|
|
|
|
/* --- DIFFERENTIAL PRESSURE --- */
|
|
if (copy_if_updated(ORB_ID(differential_pressure), &subs.diff_pres_sub, &buf.diff_pres)) {
|
|
log_msg.msg_type = LOG_DPRS_MSG;
|
|
log_msg.body.log_DPRS.error_count = buf.diff_pres.error_count;
|
|
log_msg.body.log_DPRS.differential_pressure_raw_pa = buf.diff_pres.differential_pressure_raw_pa;
|
|
log_msg.body.log_DPRS.differential_pressure_filtered_pa = buf.diff_pres.differential_pressure_filtered_pa;
|
|
log_msg.body.log_DPRS.temperature = buf.diff_pres.temperature;
|
|
LOGBUFFER_WRITE_AND_COUNT(DPRS);
|
|
}
|
|
|
|
/* --- ESCs --- */
|
|
if (copy_if_updated(ORB_ID(esc_status), &subs.esc_sub, &buf.esc)) {
|
|
for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
|
|
log_msg.msg_type = LOG_ESC_MSG;
|
|
log_msg.body.log_ESC.counter = buf.esc.counter;
|
|
log_msg.body.log_ESC.esc_count = buf.esc.esc_count;
|
|
log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
|
|
log_msg.body.log_ESC.esc_num = i;
|
|
log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
|
|
log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
|
|
log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
|
|
log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
|
|
log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
|
|
log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
|
|
log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
|
|
log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
|
|
LOGBUFFER_WRITE_AND_COUNT(ESC);
|
|
}
|
|
}
|
|
|
|
/* --- BATTERY --- */
|
|
if (copy_if_updated(ORB_ID(battery_status), &subs.battery_sub, &buf.battery)) {
|
|
log_msg.msg_type = LOG_BATT_MSG;
|
|
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
|
|
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
|
|
log_msg.body.log_BATT.current = buf.battery.current_a;
|
|
log_msg.body.log_BATT.current_filtered = buf.battery.current_filtered_a;
|
|
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
|
|
LOGBUFFER_WRITE_AND_COUNT(BATT);
|
|
}
|
|
|
|
/* --- SYSTEM POWER RAILS --- */
|
|
if (copy_if_updated(ORB_ID(system_power), &subs.system_power_sub, &buf.system_power)) {
|
|
log_msg.msg_type = LOG_PWR_MSG;
|
|
log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
|
|
log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
|
|
log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
|
|
log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
|
|
log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
|
|
log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
|
|
|
|
/* copy servo rail status topic here too */
|
|
orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
|
|
log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v;
|
|
log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v;
|
|
|
|
LOGBUFFER_WRITE_AND_COUNT(PWR);
|
|
}
|
|
|
|
/* --- TELEMETRY --- */
|
|
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
|
|
if (copy_if_updated_multi(ORB_ID(telemetry_status), i, &subs.telemetry_subs[i], &buf.telemetry)) {
|
|
log_msg.msg_type = LOG_TEL0_MSG + i;
|
|
log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
|
|
log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
|
|
log_msg.body.log_TEL.noise = buf.telemetry.noise;
|
|
log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
|
|
log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
|
|
log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
|
|
log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
|
|
log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
|
|
LOGBUFFER_WRITE_AND_COUNT(TEL);
|
|
}
|
|
}
|
|
|
|
/* --- DISTANCE SENSOR --- */
|
|
if (copy_if_updated(ORB_ID(distance_sensor), &subs.distance_sensor_sub, &buf.distance_sensor)) {
|
|
log_msg.msg_type = LOG_DIST_MSG;
|
|
log_msg.body.log_DIST.id = buf.distance_sensor.id;
|
|
log_msg.body.log_DIST.type = buf.distance_sensor.type;
|
|
log_msg.body.log_DIST.orientation = buf.distance_sensor.orientation;
|
|
log_msg.body.log_DIST.current_distance = buf.distance_sensor.current_distance;
|
|
log_msg.body.log_DIST.covariance = buf.distance_sensor.covariance;
|
|
LOGBUFFER_WRITE_AND_COUNT(DIST);
|
|
}
|
|
|
|
/* --- ESTIMATOR STATUS --- */
|
|
if (copy_if_updated(ORB_ID(estimator_status), &subs.estimator_status_sub, &buf.estimator_status)) {
|
|
log_msg.msg_type = LOG_EST0_MSG;
|
|
unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
|
|
memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
|
|
memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
|
|
log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
|
|
log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
|
|
log_msg.body.log_EST0.fault_flags = buf.estimator_status.filter_fault_flags;
|
|
log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
|
|
LOGBUFFER_WRITE_AND_COUNT(EST0);
|
|
|
|
log_msg.msg_type = LOG_EST1_MSG;
|
|
unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
|
|
memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
|
|
memcpy(&(log_msg.body.log_EST1.s), ((char*)buf.estimator_status.states) + maxcopy0, maxcopy1);
|
|
LOGBUFFER_WRITE_AND_COUNT(EST1);
|
|
|
|
log_msg.msg_type = LOG_EST2_MSG;
|
|
unsigned maxcopy2 = (sizeof(buf.estimator_status.covariances) < sizeof(log_msg.body.log_EST2.cov)) ? sizeof(buf.estimator_status.covariances) : sizeof(log_msg.body.log_EST2.cov);
|
|
memset(&(log_msg.body.log_EST2.cov), 0, sizeof(log_msg.body.log_EST2.cov));
|
|
memcpy(&(log_msg.body.log_EST2.cov), buf.estimator_status.covariances, maxcopy2);
|
|
log_msg.body.log_EST2.gps_check_fail_flags = buf.estimator_status.gps_check_fail_flags;
|
|
log_msg.body.log_EST2.control_mode_flags = buf.estimator_status.control_mode_flags;
|
|
log_msg.body.log_EST2.health_flags = buf.estimator_status.health_flags;
|
|
log_msg.body.log_EST2.innov_test_flags = buf.estimator_status.innovation_check_flags;
|
|
LOGBUFFER_WRITE_AND_COUNT(EST2);
|
|
|
|
log_msg.msg_type = LOG_EST3_MSG;
|
|
unsigned maxcopy3 = ((sizeof(buf.estimator_status.covariances) - maxcopy2) < sizeof(log_msg.body.log_EST3.cov)) ? (sizeof(buf.estimator_status.covariances) - maxcopy2) : sizeof(log_msg.body.log_EST3.cov);
|
|
memset(&(log_msg.body.log_EST3.cov), 0, sizeof(log_msg.body.log_EST3.cov));
|
|
memcpy(&(log_msg.body.log_EST3.cov), ((char*)buf.estimator_status.covariances) + maxcopy2, maxcopy3);
|
|
LOGBUFFER_WRITE_AND_COUNT(EST3);
|
|
}
|
|
|
|
/* --- EKF2 INNOVATIONS --- */
|
|
if (copy_if_updated(ORB_ID(ekf2_innovations), &subs.innov_sub, &buf.innovations)) {
|
|
log_msg.msg_type = LOG_EST4_MSG;
|
|
memset(&(log_msg.body.log_INO1.s), 0, sizeof(log_msg.body.log_INO1.s));
|
|
for (unsigned i = 0; i < 6; i++) {
|
|
log_msg.body.log_INO1.s[i] = buf.innovations.vel_pos_innov[i];
|
|
log_msg.body.log_INO1.s[i + 6] = buf.innovations.vel_pos_innov_var[i];
|
|
}
|
|
for (unsigned i = 0; i < 3; i++) {
|
|
log_msg.body.log_INO1.s[i + 12] = buf.innovations.output_tracking_error[i];
|
|
}
|
|
LOGBUFFER_WRITE_AND_COUNT(EST4);
|
|
|
|
log_msg.msg_type = LOG_EST5_MSG;
|
|
memset(&(log_msg.body.log_INO2.s), 0, sizeof(log_msg.body.log_INO2.s));
|
|
for (unsigned i = 0; i < 3; i++) {
|
|
log_msg.body.log_INO2.s[i] = buf.innovations.mag_innov[i];
|
|
log_msg.body.log_INO2.s[i + 3] = buf.innovations.mag_innov_var[i];
|
|
}
|
|
|
|
log_msg.body.log_INO2.s[6] = buf.innovations.heading_innov;
|
|
log_msg.body.log_INO2.s[7] = buf.innovations.heading_innov_var;
|
|
log_msg.body.log_INO2.s[8] = buf.innovations.airspeed_innov;
|
|
log_msg.body.log_INO2.s[9] = buf.innovations.airspeed_innov_var;
|
|
log_msg.body.log_INO2.s[10] = buf.innovations.beta_innov;
|
|
log_msg.body.log_INO2.s[11] = buf.innovations.beta_innov_var;
|
|
LOGBUFFER_WRITE_AND_COUNT(EST5);
|
|
|
|
log_msg.msg_type = LOG_EST6_MSG;
|
|
memset(&(log_msg.body.log_INO3.s), 0, sizeof(log_msg.body.log_INO3.s));
|
|
for(unsigned i = 0; i < 2; i++) {
|
|
log_msg.body.log_INO3.s[i] = buf.innovations.flow_innov[i];
|
|
log_msg.body.log_INO3.s[i + 2] = buf.innovations.flow_innov_var[i];
|
|
}
|
|
log_msg.body.log_INO3.s[4] = buf.innovations.hagl_innov;
|
|
log_msg.body.log_INO3.s[5] = buf.innovations.hagl_innov_var;
|
|
LOGBUFFER_WRITE_AND_COUNT(EST6);
|
|
}
|
|
|
|
/* --- TECS STATUS --- */
|
|
if (copy_if_updated(ORB_ID(tecs_status), &subs.tecs_status_sub, &buf.tecs_status)) {
|
|
log_msg.msg_type = LOG_TECS_MSG;
|
|
log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
|
|
log_msg.body.log_TECS.altitudeFiltered = buf.tecs_status.altitude_filtered;
|
|
log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
|
|
log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
|
|
log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
|
|
log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeed_filtered;
|
|
log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
|
|
log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
|
|
log_msg.body.log_TECS.totalEnergyError = buf.tecs_status.totalEnergyError;
|
|
log_msg.body.log_TECS.totalEnergyRateError = buf.tecs_status.totalEnergyRateError;
|
|
log_msg.body.log_TECS.energyDistributionError = buf.tecs_status.energyDistributionError;
|
|
log_msg.body.log_TECS.energyDistributionRateError = buf.tecs_status.energyDistributionRateError;
|
|
log_msg.body.log_TECS.pitch_integ = buf.tecs_status.pitch_integ;
|
|
log_msg.body.log_TECS.throttle_integ = buf.tecs_status.throttle_integ;
|
|
log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
|
|
LOGBUFFER_WRITE_AND_COUNT(TECS);
|
|
}
|
|
|
|
/* --- WIND ESTIMATE --- */
|
|
if (copy_if_updated(ORB_ID(wind_estimate), &subs.wind_sub, &buf.wind_estimate)) {
|
|
log_msg.msg_type = LOG_WIND_MSG;
|
|
log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
|
|
log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
|
|
log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
|
|
log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
|
|
LOGBUFFER_WRITE_AND_COUNT(WIND);
|
|
}
|
|
|
|
/* --- TIMESYNC OFFSET --- */
|
|
if (copy_if_updated(ORB_ID(time_offset), &subs.tsync_sub, &buf.time_offset)) {
|
|
log_msg.msg_type = LOG_TSYN_MSG;
|
|
log_msg.body.log_TSYN.time_offset = buf.time_offset.offset_ns;
|
|
LOGBUFFER_WRITE_AND_COUNT(TSYN);
|
|
}
|
|
|
|
/* --- MULTIROTOR ATTITUDE CONTROLLER STATUS --- */
|
|
if (copy_if_updated(ORB_ID(mc_att_ctrl_status), &subs.mc_att_ctrl_status_sub, &buf.mc_att_ctrl_status)) {
|
|
log_msg.msg_type = LOG_MACS_MSG;
|
|
log_msg.body.log_MACS.roll_rate_integ = buf.mc_att_ctrl_status.roll_rate_integ;
|
|
log_msg.body.log_MACS.pitch_rate_integ = buf.mc_att_ctrl_status.pitch_rate_integ;
|
|
log_msg.body.log_MACS.yaw_rate_integ = buf.mc_att_ctrl_status.yaw_rate_integ;
|
|
LOGBUFFER_WRITE_AND_COUNT(MACS);
|
|
}
|
|
|
|
/* --- CONTROL STATE --- */
|
|
if (copy_if_updated(ORB_ID(control_state), &subs.ctrl_state_sub, &buf.ctrl_state)) {
|
|
log_msg.msg_type = LOG_CTS_MSG;
|
|
log_msg.body.log_CTS.vx_body = buf.ctrl_state.x_vel;
|
|
log_msg.body.log_CTS.vy_body = buf.ctrl_state.y_vel;
|
|
log_msg.body.log_CTS.vz_body = buf.ctrl_state.z_vel;
|
|
log_msg.body.log_CTS.airspeed = buf.ctrl_state.airspeed;
|
|
log_msg.body.log_CTS.roll_rate = buf.ctrl_state.roll_rate;
|
|
log_msg.body.log_CTS.pitch_rate = buf.ctrl_state.pitch_rate;
|
|
log_msg.body.log_CTS.yaw_rate = buf.ctrl_state.yaw_rate;
|
|
LOGBUFFER_WRITE_AND_COUNT(CTS);
|
|
}
|
|
}
|
|
|
|
/* --- ATTITUDE --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) {
|
|
log_msg.msg_type = LOG_ATT_MSG;
|
|
float q0 = buf.att.q[0];
|
|
float q1 = buf.att.q[1];
|
|
float q2 = buf.att.q[2];
|
|
float q3 = buf.att.q[3];
|
|
log_msg.body.log_ATT.q_w = q0;
|
|
log_msg.body.log_ATT.q_x = q1;
|
|
log_msg.body.log_ATT.q_y = q2;
|
|
log_msg.body.log_ATT.q_z = q3;
|
|
log_msg.body.log_ATT.roll = atan2f(2*(q0*q1 + q2*q3), 1 - 2*(q1*q1 + q2*q2));
|
|
log_msg.body.log_ATT.pitch = asinf(2*(q0*q2 - q3*q1));
|
|
log_msg.body.log_ATT.yaw = atan2f(2*(q0*q3 + q1*q2), 1 - 2*(q2*q2 + q3*q3));
|
|
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;
|
|
LOGBUFFER_WRITE_AND_COUNT(ATT);
|
|
}
|
|
|
|
/* --- CAMERA TRIGGER --- */
|
|
if (copy_if_updated(ORB_ID(camera_trigger), &subs.cam_trig_sub, &buf.camera_trigger)) {
|
|
log_msg.msg_type = LOG_CAMT_MSG;
|
|
log_msg.body.log_CAMT.timestamp = buf.camera_trigger.timestamp;
|
|
log_msg.body.log_CAMT.seq = buf.camera_trigger.seq;
|
|
LOGBUFFER_WRITE_AND_COUNT(CAMT);
|
|
}
|
|
|
|
/* --- LAND DETECTED --- */
|
|
if (copy_if_updated(ORB_ID(vehicle_land_detected), &subs.land_detected_sub, &buf.land_detected)) {
|
|
log_msg.msg_type = LOG_LAND_MSG;
|
|
log_msg.body.log_LAND.landed = buf.land_detected.landed;
|
|
LOGBUFFER_WRITE_AND_COUNT(LAND);
|
|
}
|
|
|
|
/* --- LOAD --- */
|
|
if (copy_if_updated(ORB_ID(cpuload), &subs.cpuload_sub, &buf.cpuload)) {
|
|
log_msg.msg_type = LOG_LOAD_MSG;
|
|
log_msg.body.log_LOAD.cpu_load = buf.cpuload.load;
|
|
LOGBUFFER_WRITE_AND_COUNT(LOAD);
|
|
}
|
|
|
|
/* --- STACK --- */
|
|
if (copy_if_updated(ORB_ID(task_stack_info), &subs.task_stack_info_sub, &buf.task_stack_info)) {
|
|
log_msg.msg_type = LOG_STCK_MSG;
|
|
log_msg.body.log_STCK.stack_free = buf.task_stack_info.stack_free;
|
|
strncpy(log_msg.body.log_STCK.task_name, (char*)buf.task_stack_info.task_name,
|
|
sizeof(log_msg.body.log_STCK.task_name));
|
|
LOGBUFFER_WRITE_AND_COUNT(STCK);
|
|
}
|
|
|
|
pthread_mutex_lock(&logbuffer_mutex);
|
|
|
|
/* signal the other thread new data, but not yet unlock */
|
|
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
|
|
/* only request write if several packets can be written at once */
|
|
pthread_cond_signal(&logbuffer_cond);
|
|
}
|
|
|
|
/* unlock, now the writer thread may run */
|
|
pthread_mutex_unlock(&logbuffer_mutex);
|
|
}
|
|
|
|
if (logging_enabled) {
|
|
sdlog2_stop_log();
|
|
}
|
|
|
|
pthread_mutex_destroy(&logbuffer_mutex);
|
|
pthread_cond_destroy(&logbuffer_cond);
|
|
|
|
/* free log buffer */
|
|
logbuffer_free(&lb);
|
|
|
|
thread_running = false;
|
|
|
|
return 0;
|
|
}
|
|
|
|
void sdlog2_status()
|
|
{
|
|
PX4_WARN("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
|
|
PX4_WARN("time: gps: %u seconds", (unsigned)gps_time_sec);
|
|
if (!logging_enabled) {
|
|
PX4_WARN("not logging");
|
|
} else {
|
|
|
|
float kibibytes = log_bytes_written / 1024.0f;
|
|
float mebibytes = kibibytes / 1024.0f;
|
|
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
|
|
|
|
PX4_WARN("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped);
|
|
mavlink_log_info(&mavlink_log_pub, "[blackbox] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @return true if file exists
|
|
*/
|
|
bool file_exist(const char *filename)
|
|
{
|
|
struct stat buffer;
|
|
return stat(filename, &buffer) == 0;
|
|
}
|
|
|
|
int check_free_space()
|
|
{
|
|
/* use statfs to determine the number of blocks left */
|
|
FAR struct statfs statfs_buf;
|
|
if (statfs(mountpoint, &statfs_buf) != OK) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging");
|
|
return PX4_ERROR;
|
|
}
|
|
|
|
/* use a threshold of 50 MiB */
|
|
if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB",
|
|
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
|
|
/* we do not need a flag to remember that we sent this warning because we will exit anyway */
|
|
return PX4_ERROR;
|
|
|
|
/* use a threshold of 100 MiB to send a warning */
|
|
} else if (!space_warning_sent && statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
|
|
mavlink_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB",
|
|
(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
|
|
/* we don't want to flood the user with warnings */
|
|
space_warning_sent = true;
|
|
}
|
|
|
|
return PX4_OK;
|
|
}
|
|
|
|
void handle_command(struct vehicle_command_s *cmd)
|
|
{
|
|
int param;
|
|
|
|
/* request to set different system mode */
|
|
switch (cmd->command) {
|
|
|
|
case VEHICLE_CMD_PREFLIGHT_STORAGE:
|
|
param = (int)(cmd->param3 + 0.5f);
|
|
|
|
if (param == 1) {
|
|
sdlog2_start_log();
|
|
|
|
} else if (param == 2) {
|
|
sdlog2_stop_log();
|
|
} else {
|
|
// Silently ignore non-matching command values, as they could be for params.
|
|
}
|
|
|
|
break;
|
|
|
|
default:
|
|
/* silently ignore */
|
|
break;
|
|
}
|
|
}
|
|
|
|
void handle_status(struct vehicle_status_s *status)
|
|
{
|
|
// 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();
|
|
|
|
} else {
|
|
sdlog2_stop_log();
|
|
}
|
|
}
|
|
}
|