From 95236c379a3b0a551f5ac26387356ecad0a82d60 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 13 Jun 2013 06:51:09 +0400 Subject: [PATCH] sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message --- src/modules/sdlog2/sdlog2.c | 25 ++++++++++++++++++++++++- src/modules/sdlog2/sdlog2_messages.h | 14 +++++++++++++- 2 files changed, 37 insertions(+), 2 deletions(-) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index a14bd6f80e..ca6ab59346 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -64,6 +64,7 @@ #include #include #include +#include #include #include #include @@ -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); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 40763ee1e0..48322e0b6e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -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);