forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'upstream/master' into pid_fixes
Conflicts: src/modules/sdlog2/sdlog2.c
This commit is contained in:
Julian Oes
commit
26858ad403
|
|
@ -0,0 +1,94 @@
|
|||
#!nsh
|
||||
#
|
||||
# Flight startup script for PX4FMU on PX4IOAR carrier board.
|
||||
#
|
||||
|
||||
# Disable the USB interface
|
||||
set USB no
|
||||
|
||||
# Disable autostarting other apps
|
||||
set MODE ardrone
|
||||
|
||||
echo "[init] doing PX4IOAR startup..."
|
||||
|
||||
#
|
||||
# Start the ORB
|
||||
#
|
||||
uorb start
|
||||
|
||||
#
|
||||
# Load microSD params
|
||||
#
|
||||
echo "[init] loading microSD params"
|
||||
param select /fs/microsd/params
|
||||
if [ -f /fs/microsd/params ]
|
||||
then
|
||||
param load /fs/microsd/params
|
||||
fi
|
||||
|
||||
#
|
||||
# Force some key parameters to sane values
|
||||
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
|
||||
# see https://pixhawk.ethz.ch/mavlink/
|
||||
#
|
||||
param set MAV_TYPE 2
|
||||
|
||||
#
|
||||
# Configure PX4FMU for operation with PX4IOAR
|
||||
#
|
||||
fmu mode_gpio_serial
|
||||
|
||||
#
|
||||
# Start the sensors.
|
||||
#
|
||||
sh /etc/init.d/rc.sensors
|
||||
|
||||
#
|
||||
# Start MAVLink and MAVLink Onboard (Flow Sensor)
|
||||
#
|
||||
mavlink start -d /dev/ttyS0 -b 57600
|
||||
mavlink_onboard start -d /dev/ttyS3 -b 115200
|
||||
usleep 5000
|
||||
|
||||
#
|
||||
# Start the commander.
|
||||
#
|
||||
commander start
|
||||
|
||||
#
|
||||
# Start the attitude estimator
|
||||
#
|
||||
attitude_estimator_ekf start
|
||||
|
||||
#
|
||||
# Start the position estimator
|
||||
#
|
||||
flow_position_estimator start
|
||||
|
||||
#
|
||||
# Fire up the multi rotor attitude controller
|
||||
#
|
||||
multirotor_att_control start
|
||||
|
||||
#
|
||||
# Fire up the flow position controller
|
||||
#
|
||||
flow_position_control start
|
||||
|
||||
#
|
||||
# Fire up the flow speed controller
|
||||
#
|
||||
flow_speed_control start
|
||||
|
||||
#
|
||||
# Fire up the AR.Drone interface.
|
||||
#
|
||||
ardrone_interface start -d /dev/ttyS1
|
||||
|
||||
#
|
||||
# startup is done; we don't want the shell because we
|
||||
# use the same UART for telemetry
|
||||
#
|
||||
echo "[init] startup done"
|
||||
|
||||
exit
|
||||
|
|
@ -37,7 +37,7 @@
|
|||
*
|
||||
* Driver for the Eagle Tree Airspeed V3 connected via I2C.
|
||||
*/
|
||||
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
|
@ -77,13 +77,13 @@
|
|||
#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* I2C bus address */
|
||||
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
|
||||
#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */
|
||||
|
||||
/* Register address */
|
||||
#define READ_CMD 0x07 /* Read the data */
|
||||
|
||||
#define READ_CMD 0x07 /* Read the data */
|
||||
|
||||
/**
|
||||
* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
|
||||
* The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h.
|
||||
*/
|
||||
#define MIN_ACCURATE_DIFF_PRES_PA 12
|
||||
|
||||
|
|
@ -105,38 +105,38 @@ class ETSAirspeed : public device::I2C
|
|||
public:
|
||||
ETSAirspeed(int bus, int address = I2C_ADDRESS);
|
||||
virtual ~ETSAirspeed();
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
|
||||
virtual int init();
|
||||
|
||||
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
/**
|
||||
* Diagnostics - print some basic information about the driver.
|
||||
*/
|
||||
void print_info();
|
||||
|
||||
void print_info();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
work_s _work;
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
differential_pressure_s *_reports;
|
||||
bool _sensor_ok;
|
||||
int _measure_ticks;
|
||||
bool _collect_phase;
|
||||
int _diff_pres_offset;
|
||||
|
||||
orb_advert_t _airspeed_pub;
|
||||
work_s _work;
|
||||
unsigned _num_reports;
|
||||
volatile unsigned _next_report;
|
||||
volatile unsigned _oldest_report;
|
||||
differential_pressure_s *_reports;
|
||||
bool _sensor_ok;
|
||||
int _measure_ticks;
|
||||
bool _collect_phase;
|
||||
int _diff_pres_offset;
|
||||
|
||||
orb_advert_t _airspeed_pub;
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _buffer_overflows;
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _buffer_overflows;
|
||||
|
||||
|
||||
/**
|
||||
* Test whether the device supported by the driver is present at a
|
||||
* specific address.
|
||||
|
|
@ -144,28 +144,28 @@ private:
|
|||
* @param address The I2C bus address to probe.
|
||||
* @return True if the device is present.
|
||||
*/
|
||||
int probe_address(uint8_t address);
|
||||
|
||||
int probe_address(uint8_t address);
|
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it.
|
||||
*
|
||||
* @note This function is called at open and error time. It might make sense
|
||||
* to make it more aggressive about resetting the bus in case of errors.
|
||||
*/
|
||||
void start();
|
||||
|
||||
void start();
|
||||
|
||||
/**
|
||||
* Stop the automatic measurement state machine.
|
||||
*/
|
||||
void stop();
|
||||
|
||||
void stop();
|
||||
|
||||
/**
|
||||
* Perform a poll cycle; collect from the previous measurement
|
||||
* and start a new one.
|
||||
*/
|
||||
void cycle();
|
||||
int measure();
|
||||
int collect();
|
||||
void cycle();
|
||||
int measure();
|
||||
int collect();
|
||||
|
||||
/**
|
||||
* Static trampoline from the workq context; because we don't have a
|
||||
|
|
@ -173,9 +173,9 @@ private:
|
|||
*
|
||||
* @param arg Instance pointer for the driver that is polling.
|
||||
*/
|
||||
static void cycle_trampoline(void *arg);
|
||||
|
||||
|
||||
static void cycle_trampoline(void *arg);
|
||||
|
||||
|
||||
};
|
||||
|
||||
/* helper macro for handling report buffer indices */
|
||||
|
|
@ -203,7 +203,7 @@ ETSAirspeed::ETSAirspeed(int bus, int address) :
|
|||
{
|
||||
// enable debug() calls
|
||||
_debug_enabled = true;
|
||||
|
||||
|
||||
// work_cancel in the dtor will explode if we don't do this...
|
||||
memset(&_work, 0, sizeof(_work));
|
||||
}
|
||||
|
|
@ -230,6 +230,7 @@ ETSAirspeed::init()
|
|||
/* allocate basic report buffers */
|
||||
_num_reports = 2;
|
||||
_reports = new struct differential_pressure_s[_num_reports];
|
||||
|
||||
for (unsigned i = 0; i < _num_reports; i++)
|
||||
_reports[i].max_differential_pressure_pa = 0;
|
||||
|
||||
|
|
@ -351,11 +352,11 @@ ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
|
||||
case SENSORIOCGQUEUEDEPTH:
|
||||
return _num_reports - 1;
|
||||
|
||||
|
||||
case SENSORIOCRESET:
|
||||
/* XXX implement this */
|
||||
return -EINVAL;
|
||||
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return I2C::ioctl(filp, cmd, arg);
|
||||
|
|
@ -432,14 +433,14 @@ ETSAirspeed::measure()
|
|||
uint8_t cmd = READ_CMD;
|
||||
ret = transfer(&cmd, 1, nullptr, 0);
|
||||
|
||||
if (OK != ret)
|
||||
{
|
||||
if (OK != ret) {
|
||||
perf_count(_comms_errors);
|
||||
log("i2c::transfer returned %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -447,30 +448,31 @@ int
|
|||
ETSAirspeed::collect()
|
||||
{
|
||||
int ret = -EIO;
|
||||
|
||||
|
||||
/* read from the sensor */
|
||||
uint8_t val[2] = {0, 0};
|
||||
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
|
||||
ret = transfer(nullptr, 0, &val[0], 2);
|
||||
|
||||
|
||||
if (ret < 0) {
|
||||
log("error reading from sensor: %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
uint16_t diff_pres_pa = val[1] << 8 | val[0];
|
||||
|
||||
param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset);
|
||||
|
||||
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
|
||||
|
||||
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
|
||||
diff_pres_pa = 0;
|
||||
|
||||
} else {
|
||||
diff_pres_pa -= _diff_pres_offset;
|
||||
diff_pres_pa -= _diff_pres_offset;
|
||||
}
|
||||
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
|
||||
_reports[_next_report].timestamp = hrt_absolute_time();
|
||||
_reports[_next_report].differential_pressure_pa = diff_pres_pa;
|
||||
|
|
@ -498,7 +500,7 @@ ETSAirspeed::collect()
|
|||
ret = OK;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -511,17 +513,19 @@ ETSAirspeed::start()
|
|||
|
||||
/* schedule a cycle to start things */
|
||||
work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1);
|
||||
|
||||
|
||||
/* notify about state change */
|
||||
struct subsystem_info_s info = {
|
||||
true,
|
||||
true,
|
||||
true,
|
||||
SUBSYSTEM_TYPE_DIFFPRESSURE};
|
||||
SUBSYSTEM_TYPE_DIFFPRESSURE
|
||||
};
|
||||
static orb_advert_t pub = -1;
|
||||
|
||||
if (pub > 0) {
|
||||
orb_publish(ORB_ID(subsystem_info), pub, &info);
|
||||
|
||||
} else {
|
||||
pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
||||
|
|
@ -653,8 +657,7 @@ start(int i2c_bus)
|
|||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
|
@ -668,15 +671,14 @@ fail:
|
|||
void
|
||||
stop()
|
||||
{
|
||||
if (g_dev != nullptr)
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
|
@ -773,10 +775,10 @@ info()
|
|||
} // namespace
|
||||
|
||||
|
||||
static void
|
||||
ets_airspeed_usage()
|
||||
static void
|
||||
ets_airspeed_usage()
|
||||
{
|
||||
fprintf(stderr, "usage: ets_airspeed [options] command\n");
|
||||
fprintf(stderr, "usage: ets_airspeed command [options]\n");
|
||||
fprintf(stderr, "options:\n");
|
||||
fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT);
|
||||
fprintf(stderr, "command:\n");
|
||||
|
|
@ -789,6 +791,7 @@ ets_airspeed_main(int argc, char *argv[])
|
|||
int i2c_bus = PX4_I2C_BUS_DEFAULT;
|
||||
|
||||
int i;
|
||||
|
||||
for (i = 1; i < argc; i++) {
|
||||
if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) {
|
||||
if (argc > i + 1) {
|
||||
|
|
@ -802,12 +805,12 @@ ets_airspeed_main(int argc, char *argv[])
|
|||
*/
|
||||
if (!strcmp(argv[1], "start"))
|
||||
ets_airspeed::start(i2c_bus);
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop"))
|
||||
ets_airspeed::stop();
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop"))
|
||||
ets_airspeed::stop();
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
|
|
|
|||
|
|
@ -44,6 +44,7 @@
|
|||
#include <string.h>
|
||||
#include <systemlib/geo/geo.h>
|
||||
#include <unistd.h>
|
||||
#include <uORB/topics/airspeed.h>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
|
|
@ -56,6 +57,7 @@ static int battery_sub = -1;
|
|||
static int gps_sub = -1;
|
||||
static int home_sub = -1;
|
||||
static int sensor_sub = -1;
|
||||
static int airspeed_sub = -1;
|
||||
|
||||
static bool home_position_set = false;
|
||||
static double home_lat = 0.0d;
|
||||
|
|
@ -68,6 +70,7 @@ messages_init(void)
|
|||
gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
home_sub = orb_subscribe(ORB_ID(home_position));
|
||||
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
airspeed_sub = orb_subscribe(ORB_ID(airspeed));
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -100,6 +103,16 @@ build_eam_response(uint8_t *buffer, size_t *size)
|
|||
msg.altitude_L = (uint8_t)alt & 0xff;
|
||||
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
|
||||
|
||||
/* get a local copy of the airspeed data */
|
||||
struct airspeed_s airspeed;
|
||||
memset(&airspeed, 0, sizeof(airspeed));
|
||||
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
|
||||
|
||||
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s);
|
||||
msg.speed_L = (uint8_t)speed & 0xff;
|
||||
msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
|
||||
|
||||
|
||||
msg.stop = STOP_BYTE;
|
||||
memcpy(buffer, &msg, *size);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
|
|||
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
12400,
|
||||
14000,
|
||||
attitude_estimator_ekf_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
|
|
|
|||
|
|
@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
|
|||
} else {
|
||||
// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
|
||||
n = lb->size - lb->read_ptr;
|
||||
*is_part = true;
|
||||
*is_part = lb->write_ptr > 0;
|
||||
}
|
||||
|
||||
*ptr = &(lb->data[lb->read_ptr]);
|
||||
|
|
|
|||
|
|
@ -64,6 +64,7 @@
|
|||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_attitude_setpoint.h>
|
||||
#include <uORB/topics/vehicle_rates_setpoint.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_controls_effective.h>
|
||||
|
|
@ -103,7 +104,7 @@
|
|||
|
||||
//#define SDLOG2_DEBUG
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool main_thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
|
||||
|
|
@ -114,35 +115,34 @@ static const int MAX_WRITE_CHUNK = 512;
|
|||
static const int MIN_BYTES_TO_WRITE = 512;
|
||||
|
||||
static const char *mountpoint = "/fs/microsd";
|
||||
int log_file = -1;
|
||||
int mavlink_fd = -1;
|
||||
static int mavlink_fd = -1;
|
||||
struct logbuffer_s lb;
|
||||
|
||||
/* mutex / condition to synchronize threads */
|
||||
pthread_mutex_t logbuffer_mutex;
|
||||
pthread_cond_t logbuffer_cond;
|
||||
static pthread_mutex_t logbuffer_mutex;
|
||||
static pthread_cond_t logbuffer_cond;
|
||||
|
||||
char folder_path[64];
|
||||
static char folder_path[64];
|
||||
|
||||
/* statistics counters */
|
||||
unsigned long log_bytes_written = 0;
|
||||
uint64_t start_time = 0;
|
||||
unsigned long log_msgs_written = 0;
|
||||
unsigned long log_msgs_skipped = 0;
|
||||
static unsigned long log_bytes_written = 0;
|
||||
static uint64_t start_time = 0;
|
||||
static unsigned long log_msgs_written = 0;
|
||||
static unsigned long log_msgs_skipped = 0;
|
||||
|
||||
/* current state of logging */
|
||||
bool logging_enabled = false;
|
||||
static bool logging_enabled = false;
|
||||
/* enable logging on start (-e option) */
|
||||
bool log_on_start = false;
|
||||
static bool log_on_start = false;
|
||||
/* enable logging when armed (-a option) */
|
||||
bool log_when_armed = false;
|
||||
static bool log_when_armed = false;
|
||||
/* delay = 1 / rate (rate defined by -r option) */
|
||||
useconds_t sleep_delay = 0;
|
||||
static useconds_t sleep_delay = 0;
|
||||
|
||||
/* helper flag to track system state changes */
|
||||
bool flag_system_armed = false;
|
||||
static bool flag_system_armed = false;
|
||||
|
||||
pthread_t logwriter_pthread = 0;
|
||||
static pthread_t logwriter_pthread = 0;
|
||||
|
||||
/**
|
||||
* Log buffer writing thread. Open and close file here.
|
||||
|
|
@ -172,17 +172,17 @@ static void sdlog2_status(void);
|
|||
/**
|
||||
* Start logging: create new file and start log writer thread.
|
||||
*/
|
||||
void sdlog2_start_log();
|
||||
static void sdlog2_start_log(void);
|
||||
|
||||
/**
|
||||
* Stop logging: stop log writer thread and close log file.
|
||||
*/
|
||||
void sdlog2_stop_log();
|
||||
static void sdlog2_stop_log(void);
|
||||
|
||||
/**
|
||||
* Write a header to log file: list of message formats.
|
||||
*/
|
||||
void write_formats(int fd);
|
||||
static void write_formats(int fd);
|
||||
|
||||
|
||||
static bool file_exist(const char *filename);
|
||||
|
|
@ -196,12 +196,12 @@ static void handle_status(struct vehicle_status_s *cmd);
|
|||
/**
|
||||
* Create folder for current logging session. Store folder name in 'log_folder'.
|
||||
*/
|
||||
static int create_logfolder();
|
||||
static int create_logfolder(void);
|
||||
|
||||
/**
|
||||
* Select first free log file name and open it.
|
||||
*/
|
||||
static int open_logfile();
|
||||
static int open_logfile(void);
|
||||
|
||||
static void
|
||||
sdlog2_usage(const char *reason)
|
||||
|
|
@ -237,11 +237,11 @@ int sdlog2_main(int argc, char *argv[])
|
|||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
main_thread_should_exit = false;
|
||||
deamon_task = task_spawn("sdlog2",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT - 30,
|
||||
2048,
|
||||
3000,
|
||||
sdlog2_thread_main,
|
||||
(const char **)argv);
|
||||
exit(0);
|
||||
|
|
@ -252,7 +252,7 @@ int sdlog2_main(int argc, char *argv[])
|
|||
printf("\tsdlog2 is not started\n");
|
||||
}
|
||||
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
|
@ -286,22 +286,6 @@ int create_logfolder()
|
|||
|
||||
if (mkdir_ret == 0) {
|
||||
/* folder does not exist, success */
|
||||
|
||||
/* copy parser script file */
|
||||
// TODO
|
||||
/*
|
||||
char mfile_out[100];
|
||||
sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
|
||||
int ret = file_copy(mfile_in, mfile_out);
|
||||
|
||||
if (!ret) {
|
||||
warnx("copied m file to %s", mfile_out);
|
||||
|
||||
} else {
|
||||
warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
|
||||
}
|
||||
*/
|
||||
|
||||
break;
|
||||
|
||||
} else if (mkdir_ret == -1) {
|
||||
|
|
@ -347,10 +331,10 @@ int open_logfile()
|
|||
fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC);
|
||||
|
||||
if (fd == 0) {
|
||||
errx(1, "opening %s failed.", path_buf);
|
||||
warn("opening %s failed", path_buf);
|
||||
}
|
||||
|
||||
warnx("logging to: %s", path_buf);
|
||||
warnx("logging to: %s.", path_buf);
|
||||
mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf);
|
||||
|
||||
return fd;
|
||||
|
|
@ -358,7 +342,7 @@ int open_logfile()
|
|||
|
||||
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 */
|
||||
warn("all %d possible files exist already", MAX_NO_LOGFILE);
|
||||
warnx("all %d possible files exist already.", MAX_NO_LOGFILE);
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
|
@ -384,8 +368,7 @@ static void *logwriter_thread(void *arg)
|
|||
bool should_wait = false;
|
||||
bool is_part = false;
|
||||
|
||||
while (!thread_should_exit && !logwriter_should_exit) {
|
||||
|
||||
while (true) {
|
||||
/* make sure threads are synchronized */
|
||||
pthread_mutex_lock(&logbuffer_mutex);
|
||||
|
||||
|
|
@ -395,7 +378,7 @@ static void *logwriter_thread(void *arg)
|
|||
}
|
||||
|
||||
/* only wait if no data is available to process */
|
||||
if (should_wait) {
|
||||
if (should_wait && !logwriter_should_exit) {
|
||||
/* blocking wait for new data at this line */
|
||||
pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex);
|
||||
}
|
||||
|
|
@ -403,6 +386,11 @@ static void *logwriter_thread(void *arg)
|
|||
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
|
||||
int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
int rp = logbuf->read_ptr;
|
||||
int wp = logbuf->write_ptr;
|
||||
#endif
|
||||
|
||||
/* continue */
|
||||
pthread_mutex_unlock(&logbuffer_mutex);
|
||||
|
||||
|
|
@ -419,11 +407,11 @@ static void *logwriter_thread(void *arg)
|
|||
|
||||
should_wait = (n == available) && !is_part;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait);
|
||||
printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
|
||||
#endif
|
||||
|
||||
if (n < 0) {
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
err(1, "error writing log file");
|
||||
}
|
||||
|
||||
|
|
@ -432,19 +420,33 @@ static void *logwriter_thread(void *arg)
|
|||
}
|
||||
|
||||
} else {
|
||||
n = 0;
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
|
||||
#endif
|
||||
/* exit only with empty buffer */
|
||||
if (main_thread_should_exit || logwriter_should_exit) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("break logwriter thread\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
should_wait = true;
|
||||
}
|
||||
|
||||
if (poll_count % 10 == 0) {
|
||||
if (++poll_count == 10) {
|
||||
fsync(log_file);
|
||||
poll_count = 0;
|
||||
}
|
||||
|
||||
poll_count++;
|
||||
}
|
||||
|
||||
fsync(log_file);
|
||||
close(log_file);
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("logwriter thread exit\n");
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
|
@ -471,10 +473,9 @@ void sdlog2_start_log()
|
|||
pthread_attr_setstacksize(&receiveloop_attr, 2048);
|
||||
|
||||
logwriter_should_exit = false;
|
||||
pthread_t thread;
|
||||
|
||||
/* start log buffer emptying thread */
|
||||
if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) {
|
||||
if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) {
|
||||
errx(1, "error creating logwriter thread");
|
||||
}
|
||||
|
||||
|
|
@ -488,16 +489,20 @@ void sdlog2_stop_log()
|
|||
mavlink_log_info(mavlink_fd, "[sdlog2] stop logging");
|
||||
|
||||
logging_enabled = false;
|
||||
logwriter_should_exit = true;
|
||||
|
||||
/* 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 */
|
||||
(void)pthread_join(logwriter_pthread, NULL);
|
||||
int ret;
|
||||
if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
|
||||
warnx("error joining logwriter thread: %i", ret);
|
||||
}
|
||||
logwriter_pthread = 0;
|
||||
|
||||
sdlog2_status();
|
||||
}
|
||||
|
|
@ -518,7 +523,7 @@ void write_formats(int fd)
|
|||
|
||||
for (i = 0; i < log_formats_num; i++) {
|
||||
log_format_packet.body = log_formats[i];
|
||||
write(fd, &log_format_packet, sizeof(log_format_packet));
|
||||
log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
|
||||
}
|
||||
|
||||
fsync(fd);
|
||||
|
|
@ -608,12 +613,10 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
errx(1, "can't allocate log buffer, exiting.");
|
||||
}
|
||||
|
||||
/* file descriptors to wait for */
|
||||
struct pollfd fds_control[2];
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
/* number of messages */
|
||||
const ssize_t fdsc = 16;
|
||||
|
||||
const ssize_t fdsc = 18;
|
||||
/* Sanity check variable and index */
|
||||
ssize_t fdsc_count = 0;
|
||||
/* file descriptors to wait for */
|
||||
|
|
@ -628,6 +631,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
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_effective_s act_controls_effective;
|
||||
|
|
@ -650,6 +654,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
int sensor_sub;
|
||||
int att_sub;
|
||||
int att_sp_sub;
|
||||
int rates_sp_sub;
|
||||
int act_outputs_sub;
|
||||
int act_controls_sub;
|
||||
int act_controls_effective_sub;
|
||||
|
|
@ -661,6 +666,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
int control_debug_sub;
|
||||
int flow_sub;
|
||||
int rc_sub;
|
||||
int airspeed_sub;
|
||||
} subs;
|
||||
|
||||
/* log message buffer: header + body */
|
||||
|
|
@ -681,6 +687,8 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
struct log_CTRL_s log_CTRL;
|
||||
struct log_RC_s log_RC;
|
||||
struct log_OUT0_s log_OUT0;
|
||||
struct log_AIRS_s log_AIRS;
|
||||
struct log_ARSP_s log_ARSP;
|
||||
} body;
|
||||
} log_msg = {
|
||||
LOG_PACKET_HEADER_INIT(0)
|
||||
|
|
@ -724,6 +732,12 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- RATES SETPOINT --- */
|
||||
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
|
||||
fds[fdsc_count].fd = subs.rates_sp_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- ACTUATOR OUTPUTS --- */
|
||||
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
|
||||
fds[fdsc_count].fd = subs.act_outputs_sub;
|
||||
|
|
@ -784,6 +798,12 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- AIRSPEED --- */
|
||||
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
|
||||
fds[fdsc_count].fd = subs.airspeed_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* WARNING: If you get the error message below,
|
||||
* then the number of registered messages (fdsc)
|
||||
* differs from the number of messages in the above list.
|
||||
|
|
@ -816,7 +836,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
if (log_on_start)
|
||||
sdlog2_start_log();
|
||||
|
||||
while (!thread_should_exit) {
|
||||
while (!main_thread_should_exit) {
|
||||
/* decide use usleep() or blocking poll() */
|
||||
bool use_sleep = sleep_delay > 0 && logging_enabled;
|
||||
|
||||
|
|
@ -826,7 +846,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
/* handle the poll result */
|
||||
if (poll_ret < 0) {
|
||||
warnx("ERROR: poll error, stop logging.");
|
||||
thread_should_exit = true;
|
||||
main_thread_should_exit = true;
|
||||
|
||||
} else if (poll_ret > 0) {
|
||||
|
||||
|
|
@ -893,7 +913,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
|
||||
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 * 0.001;
|
||||
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;
|
||||
|
|
@ -963,6 +983,9 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
log_msg.body.log_ATT.roll = buf.att.roll;
|
||||
log_msg.body.log_ATT.pitch = buf.att.pitch;
|
||||
log_msg.body.log_ATT.yaw = buf.att.yaw;
|
||||
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);
|
||||
}
|
||||
|
||||
|
|
@ -973,9 +996,20 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
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;
|
||||
LOGBUFFER_WRITE_AND_COUNT(ATSP);
|
||||
}
|
||||
|
||||
/* --- RATES SETPOINT --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(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 (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
|
||||
|
|
@ -1073,10 +1107,22 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
LOGBUFFER_WRITE_AND_COUNT(RC);
|
||||
}
|
||||
|
||||
/* --- AIRSPEED --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
|
||||
log_msg.msg_type = LOG_AIRS_MSG;
|
||||
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
|
||||
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
|
||||
LOGBUFFER_WRITE_AND_COUNT(AIRS);
|
||||
}
|
||||
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
|
||||
#ifdef SDLOG2_DEBUG
|
||||
printf("signal %i", logbuffer_count(&lb));
|
||||
printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
|
||||
#endif
|
||||
/* only request write if several packets can be written at once */
|
||||
pthread_cond_signal(&logbuffer_cond);
|
||||
|
|
|
|||
|
|
@ -60,6 +60,9 @@ struct log_ATT_s {
|
|||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
float roll_rate;
|
||||
float pitch_rate;
|
||||
float yaw_rate;
|
||||
};
|
||||
|
||||
/* --- ATSP - ATTITUDE SET POINT --- */
|
||||
|
|
@ -68,6 +71,7 @@ struct log_ATSP_s {
|
|||
float roll_sp;
|
||||
float pitch_sp;
|
||||
float yaw_sp;
|
||||
float thrust_sp;
|
||||
};
|
||||
|
||||
/* --- IMU - IMU SENSORS --- */
|
||||
|
|
@ -181,14 +185,29 @@ struct log_RC_s {
|
|||
struct log_OUT0_s {
|
||||
float output[8];
|
||||
};
|
||||
|
||||
/* --- AIRS - AIRSPEED --- */
|
||||
#define LOG_AIRS_MSG 13
|
||||
struct log_AIRS_s {
|
||||
float indicated_airspeed;
|
||||
float true_airspeed;
|
||||
};
|
||||
|
||||
/* --- ARSP - ATTITUDE RATE SET POINT --- */
|
||||
#define LOG_ARSP_MSG 14
|
||||
struct log_ARSP_s {
|
||||
float roll_rate_sp;
|
||||
float pitch_rate_sp;
|
||||
float yaw_rate_sp;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
/* construct list of all message formats */
|
||||
|
||||
static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(TIME, "Q", "StartTime"),
|
||||
LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
|
||||
LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
|
||||
LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
|
||||
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
|
||||
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
|
||||
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
|
||||
LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
|
||||
|
|
@ -199,6 +218,8 @@ static const struct log_format_s log_formats[] = {
|
|||
LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"),
|
||||
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
|
||||
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
|
||||
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
|
||||
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
|
||||
};
|
||||
|
||||
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
|
||||
|
|
|
|||
Loading…
Reference in New Issue