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Add range finder to logging

This commit is contained in:
Lorenz Meier 2014-03-10 18:47:31 +01:00
parent 1c488a95da
commit 3f3abebf68
1 changed files with 20 additions and 0 deletions
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20
src/modules/sdlog2/sdlog2.c
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@ -58,6 +58,8 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <math.h> #include <math.h>
#include <drivers/drv_range_finder.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h> #include <uORB/topics/sensor_combined.h>
@ -759,6 +761,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_velocity_setpoint_s global_vel_sp; struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery; struct battery_status_s battery;
struct telemetry_status_s telemetry; struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
} buf; } buf;
memset(&buf, 0, sizeof(buf)); memset(&buf, 0, sizeof(buf));
@ -785,6 +788,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int global_vel_sp_sub; int global_vel_sp_sub;
int battery_sub; int battery_sub;
int telemetry_sub; int telemetry_sub;
int range_finder_sub;
} subs; } subs;
/* log message buffer: header + body */ /* log message buffer: header + body */
@ -955,6 +959,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN; fds[fdsc_count].events = POLLIN;
fdsc_count++; fdsc_count++;
/* --- RANGE FINDER --- */
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
fds[fdsc_count].fd = subs.range_finder_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below, /* WARNING: If you get the error message below,
* then the number of registered messages (fdsc) * then the number of registered messages (fdsc)
* differs from the number of messages in the above list. * differs from the number of messages in the above list.
@ -1370,6 +1380,16 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(TELE); LOGBUFFER_WRITE_AND_COUNT(TELE);
} }
/* --- BOTTOM DISTANCE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder);
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.range_finder.distance;
log_msg.body.log_DIST.bottom_rate = 0.0f;
log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(DIST);
}
/* signal the other thread new data, but not yet unlock */ /* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */ /* only request write if several packets can be written at once */