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sdlog2: Log all temperatures

This commit is contained in:
Lorenz Meier 2015-03-25 22:59:08 -07:00
parent 81546e8f84
commit 4adb5ba276
3 changed files with 61 additions and 18 deletions
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2
src/modules/sdlog2/module.mk
View File

@ -46,5 +46,5 @@ MODULE_STACKSIZE = 1200
MAXOPTIMIZATION = -Os
EXTRACFLAGS = -Wframe-larger-than=1300
EXTRACFLAGS = -Wframe-larger-than=1400

58
src/modules/sdlog2/sdlog2.c
View File

@ -340,15 +340,32 @@ int sdlog2_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
sdlog2_status();
} else {
if (!thread_running) {
warnx("not started\n");
return 1;
}
exit(0);
if (!strcmp(argv[1], "status")) {
sdlog2_status();
return 0;
}
if (!strcmp(argv[1], "on")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param3 = 1;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
return 0;
}
if (!strcmp(argv[1], "off")) {
struct vehicle_command_s cmd;
cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
cmd.param3 = 0;
int fd = orb_advertise(ORB_ID(vehicle_command), &cmd);
close(fd);
return 0;
}
sdlog2_usage("unrecognized command");
@ -627,13 +644,16 @@ static void *logwriter_thread(void *arg)
void sdlog2_start_log()
{
if (logging_enabled) {
return;
}
/* create log dir if needed */
if (create_log_dir() != 0) {
mavlink_and_console_log_critical(mavlink_fd, "[sdlog2] error creating log dir");
exit(1);
}
/* initialize statistics counter */
log_bytes_written = 0;
start_time = hrt_absolute_time();
@ -674,6 +694,10 @@ void sdlog2_start_log()
void sdlog2_stop_log()
{
if (!logging_enabled) {
return;
}
logging_enabled = false;
/* wake up write thread one last time */
@ -1347,6 +1371,9 @@ int sdlog2_thread_main(int argc, char *argv[])
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 = buf.sensor.gyro_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
@ -1402,6 +1429,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro1_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer1_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer1_temp;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
@ -1431,6 +1461,9 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro2_temp;
log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer2_temp;
log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer2_temp;
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
@ -1810,14 +1843,19 @@ int sdlog2_thread_main(int argc, char *argv[])
void sdlog2_status()
{
warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
if (!logging_enabled) {
warnx("standing by");
} else {
float kibibytes = log_bytes_written / 1024.0f;
float mebibytes = kibibytes / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
warnx("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);
warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped);
}
}
/**
* @return 0 if file exists
@ -1904,13 +1942,15 @@ void handle_command(struct vehicle_command_s *cmd)
switch (cmd->command) {
case VEHICLE_CMD_PREFLIGHT_STORAGE:
param = (int)(cmd->param3);
param = (int)(cmd->param3 + 0.5f);
if (param == 1) {
sdlog2_start_log();
} else if (param == 0) {
sdlog2_stop_log();
} else {
warnx("unknown storage cmd");
}
break;

9
src/modules/sdlog2/sdlog2_messages.h
View File

@ -89,6 +89,9 @@ struct log_IMU_s {
float mag_x;
float mag_y;
float mag_z;
float temp_acc;
float temp_gyro;
float temp_mag;
};
/* --- SENS - OTHER SENSORS --- */
@ -471,9 +474,9 @@ static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
LOG_FORMAT(ATT, "fffffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT_S(IMU, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT_S(IMU1, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT_S(IMU2, IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT_S(IMU, IMU, "ffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU1, IMU, "ffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU2, IMU, "ffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(SENS, SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT_S(AIR1, SENS, "fffff", "BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
LOG_FORMAT(LPOS, "ffffffffLLfBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),