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Merge pull request #936 from PX4/gps_logging 

GPS Satellite SNR logging
This commit is contained in:
Lorenz Meier 2014-05-15 07:07:40 -07:00
parent 19ebe076cd 8662a06b54
commit ac4b68e01b
2 changed files with 29 additions and 1 deletions
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16
src/modules/sdlog2/sdlog2.c
View File

@ -684,7 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[])
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r <= 0) {
if (r == 0) {
r = 1;
}
@ -834,6 +834,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GSN0_s log_GSN0;
struct log_GSN1_s log_GSN1;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -982,6 +984,18 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
/* log the SNR of each satellite for a detailed view of signal quality */
log_msg.msg_type = LOG_GSN0_MSG;
/* pick the smaller number so we do not overflow any of the arrays */
unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < sat_max_snr; i++) {
log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
}
LOGBUFFER_WRITE_AND_COUNT(GSN0);
}
/* --- SENSOR COMBINED --- */

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

@ -317,6 +317,18 @@ struct log_VICN_s {
float yaw;
};
/* --- GSN0 - GPS SNR #0 --- */
#define LOG_GSN0_MSG 26
struct log_GSN0_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/* --- GSN1 - GPS SNR #1 --- */
#define LOG_GSN1_MSG 27
struct log_GSN1_s {
uint8_t satellite_snr[16]; /**< Signal to noise ratio of satellite. 0 for none, 255 for max. */
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@ -368,6 +380,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GSN0, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GSN1, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */