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sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message

This commit is contained in:
Anton Babushkin 2013-06-13 06:51:09 +04:00
parent f8f83d5896
commit 95236c379a
2 changed files with 37 additions and 2 deletions
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25
src/modules/sdlog2/sdlog2.c
View File

@ -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>
@ -612,7 +613,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 15;
const ssize_t fdsc = 16;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@ -627,6 +628,7 @@ 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;
@ -648,6 +650,7 @@ 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;
@ -677,6 +680,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_ARSP_s log_ARSP;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -720,6 +724,12 @@ 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;
@ -953,6 +963,9 @@ 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);
}
@ -966,6 +979,16 @@ int sdlog2_thread_main(int argc, char *argv[])
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);

14
src/modules/sdlog2/sdlog2_messages.h
View File

@ -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 --- */
@ -167,13 +170,21 @@ struct log_RC_s {
struct log_OUT0_s {
float output[8];
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
#define LOG_ARSP_MSG 13
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(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
@ -184,6 +195,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
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(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);