From 77a4711ff992b4cbda03f539dd2e7bd927b76e95 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 4 Jun 2014 09:51:40 +0200 Subject: [PATCH] Log extended estimator status --- src/modules/sdlog2/sdlog2.c | 27 ++++++++++++++++---------- src/modules/sdlog2/sdlog2_messages.h | 29 ++++++++++++++++++---------- 2 files changed, 36 insertions(+), 20 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c19579f0f9..5e69466580 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -976,7 +976,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; - struct log_ESTM_s log_ESTM; + struct log_EST0_s log_EST0; + struct log_EST1_s log_EST1; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; struct log_GS0A_s log_GS0A; @@ -1489,15 +1490,21 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- ESTIMATOR STATUS --- */ if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { - log_msg.msg_type = LOG_ESTM_MSG; - unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s); - memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s)); - memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy); - log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states; - log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan; - log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan; - log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan; - LOGBUFFER_WRITE_AND_COUNT(ESTM); + log_msg.msg_type = LOG_EST0_MSG; + unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s); + memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s)); + memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0); + log_msg.body.log_EST0.n_states = buf.estimator_status.n_states; + log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags; + log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags; + log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags; + LOGBUFFER_WRITE_AND_COUNT(EST0); + + log_msg.msg_type = LOG_EST1_MSG; + unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s); + memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s)); + memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1); + LOGBUFFER_WRITE_AND_COUNT(EST1); } /* --- TECS STATUS --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a874351b30..a3c9d2440c 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -288,15 +288,7 @@ struct log_TELE_s { uint8_t txbuf; }; -/* --- ESTM - ESTIMATOR STATUS --- */ -#define LOG_ESTM_MSG 23 -struct log_ESTM_s { - float s[10]; - uint8_t n_states; - uint8_t states_nan; - uint8_t covariance_nan; - uint8_t kalman_gain_nan; -}; +// ID 23 available /* --- PWR - ONBOARD POWER SYSTEM --- */ #define LOG_PWR_MSG 24 @@ -375,6 +367,22 @@ struct log_WIND_s { float cov_y; }; +/* --- EST0 - ESTIMATOR STATUS --- */ +#define LOG_EST0_MSG 32 +struct log_EST0_s { + float s[12]; + uint8_t n_states; + uint8_t nan_flags; + uint8_t health_flags; + uint8_t timeout_flags; +}; + +/* --- EST1 - ESTIMATOR STATUS --- */ +#define LOG_EST1_MSG 33 +struct log_EST1_s { + float s[16]; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -423,7 +431,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(EST0, "ffffffffffffffBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,nStat,flagsNaN"), + LOG_FORMAT(EST1, "ffffffffffffffff", "s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),