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Merge pull request #305 from sjwilks/sdlog-airspeed 

Add airspeed logging to sdlog2.
This commit is contained in:
Lorenz Meier 2013-06-16 13:46:35 -07:00
parent f1419d4f5f 4253c16b3f
commit c240e843aa
2 changed files with 26 additions and 1 deletions
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19
src/modules/sdlog2/sdlog2.c
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@ -612,7 +612,7 @@ 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 */
@ -658,6 +658,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
} subs;
/* log message buffer: header + body */
@ -677,6 +678,7 @@ 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_AIRS_s log_AIRS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -774,6 +776,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@ -1046,6 +1054,15 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(RC);
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
#ifdef SDLOG2_DEBUG

8
src/modules/sdlog2/sdlog2_messages.h
View File

@ -167,6 +167,13 @@ struct log_RC_s {
struct log_OUT0_s {
float output[8];
};
/* --- AIRS - AIRSPEED --- */
#define LOG_AIRS_MSG 13
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
};
#pragma pack(pop)
/* construct list of all message formats */
@ -184,6 +191,7 @@ 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(AIRS, "ff", "IndSpeed,TrueSpeed"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);