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fix error in use of union

This commit is contained in:
Mark Whitehorn 2016-03-18 10:14:54 -06:00 committed by Lorenz Meier
parent 7dde4cb55b
commit 6b997f9e91
1 changed files with 26 additions and 26 deletions
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52
src/modules/sdlog2/sdlog2.c
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@ -1093,13 +1093,14 @@ int sdlog2_thread_main(int argc, char *argv[])
}
struct vehicle_status_s buf_status;
struct vehicle_gps_position_s buf_gps_pos;
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_status, 0, sizeof(buf_cmd));
// check if we are gathering data for a replay log for ekf2
// is yes then disable logging of some topics to avoid dropouts
param_t replay_handle = param_find("EKF2_REC_RPL");
@ -1401,8 +1402,8 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf.cmd)) {
handle_command(&buf.cmd);
if (copy_if_updated(ORB_ID(vehicle_command), &subs.cmd_sub, &buf_cmd)) {
handle_command(&buf_cmd);
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
@ -1506,28 +1507,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_RPL4.range_to_ground = buf.replay.range_to_ground;
LOGBUFFER_WRITE_AND_COUNT(RPL4);
}
}
/* --- ATTITUDE --- */
if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.q_w = buf.att.q[0];
log_msg.body.log_ATT.q_x = buf.att.q[1];
log_msg.body.log_ATT.q_y = buf.att.q[2];
log_msg.body.log_ATT.q_z = buf.att.q[3];
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;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
if (!record_replay_log) {
} else { /* !record_replay_log */
/* we poll on sensor combined, so we know it has updated just now */
for (unsigned i = 0; i < 3; i++) {
@ -2105,6 +2086,25 @@ int sdlog2_thread_main(int argc, char *argv[])
}
}
/* --- ATTITUDE --- */
if (copy_if_updated(ORB_ID(vehicle_attitude), &subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.q_w = buf.att.q[0];
log_msg.body.log_ATT.q_x = buf.att.q[1];
log_msg.body.log_ATT.q_y = buf.att.q[2];
log_msg.body.log_ATT.q_z = buf.att.q[3];
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;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
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;