forked from Archive/PX4-Autopilot
sdlog2: log all low-level battery parameters in BATT message
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697df775f9
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1a318ee2a6
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@ -704,6 +704,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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struct airspeed_s airspeed;
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struct esc_status_s esc;
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struct vehicle_global_velocity_setpoint_s global_vel_sp;
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struct battery_status_s battery;
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} buf;
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memset(&buf, 0, sizeof(buf));
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@ -729,6 +730,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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int airspeed_sub;
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int esc_sub;
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int global_vel_sp_sub;
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int battery_sub;
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} subs;
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/* log message buffer: header + body */
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@ -755,6 +757,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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struct log_GPSP_s log_GPSP;
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struct log_ESC_s log_ESC;
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struct log_GVSP_s log_GVSP;
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struct log_BATT_s log_BATT;
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} body;
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} log_msg = {
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LOG_PACKET_HEADER_INIT(0)
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@ -764,7 +767,7 @@ int sdlog2_thread_main(int argc, char *argv[])
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/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
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/* number of messages */
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const ssize_t fdsc = 20;
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const ssize_t fdsc = 21;
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/* Sanity check variable and index */
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ssize_t fdsc_count = 0;
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/* file descriptors to wait for */
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@ -890,6 +893,12 @@ int sdlog2_thread_main(int argc, char *argv[])
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fds[fdsc_count].events = POLLIN;
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fdsc_count++;
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/* --- BATTERY --- */
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subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
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fds[fdsc_count].fd = subs.battery_sub;
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fds[fdsc_count].events = POLLIN;
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fdsc_count++;
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/* WARNING: If you get the error message below,
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* then the number of registered messages (fdsc)
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* differs from the number of messages in the above list.
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@ -980,8 +989,6 @@ int sdlog2_thread_main(int argc, char *argv[])
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log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
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log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
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log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
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log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
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log_msg.body.log_STAT.battery_current = buf_status.battery_current;
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log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
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log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
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log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
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@ -1252,6 +1259,15 @@ int sdlog2_thread_main(int argc, char *argv[])
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LOGBUFFER_WRITE_AND_COUNT(GVSP);
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}
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/* --- BATTERY --- */
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if (fds[ifds++].revents & POLLIN) {
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log_msg.msg_type = LOG_BATT_MSG;
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log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
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log_msg.body.log_BATT.current = buf.battery.current_a;
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log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
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LOGBUFFER_WRITE_AND_COUNT(BATT);
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}
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/* signal the other thread new data, but not yet unlock */
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if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
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/* only request write if several packets can be written at once */
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@ -148,8 +148,6 @@ struct log_STAT_s {
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uint8_t main_state;
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uint8_t navigation_state;
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uint8_t arming_state;
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float battery_voltage;
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float battery_current;
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float battery_remaining;
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uint8_t battery_warning;
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uint8_t landed;
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@ -247,6 +245,14 @@ struct log_GVSP_s {
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float vz;
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};
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/* --- BATT - BATTERY --- */
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#define LOG_BATT_MSG 20
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struct log_BATT_s {
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float voltage;
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float current;
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float discharged;
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};
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/* --- TIME - TIME STAMP --- */
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#define LOG_TIME_MSG 129
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struct log_TIME_s {
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@ -280,7 +286,7 @@ static const struct log_format_s log_formats[] = {
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LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
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LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
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LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
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LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
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LOG_FORMAT(STAT, "BBBBB", "MainState,NavState,ArmState,BatRem,BatWarn,Landed"),
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LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
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LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
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LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
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@ -290,6 +296,7 @@ static const struct log_format_s log_formats[] = {
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LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
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LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
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LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
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LOG_FORMAT(BATT, "fff", "V,C,Discharged"),
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/* system-level messages, ID >= 0x80 */
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// FMT: don't write format of format message, it's useless
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LOG_FORMAT(TIME, "Q", "StartTime"),
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