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Added Flow messages to sdlog2

This commit is contained in:
Julian Oes 2013-06-24 17:24:04 +02:00
parent 60e9ea977d
commit d563960267
2 changed files with 18 additions and 2 deletions
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10
src/modules/sdlog2/sdlog2.c
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@ -616,7 +616,7 @@ 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 = 19;
const ssize_t fdsc = 20;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
@ -686,6 +686,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_SENS_s log_SENS;
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_FLOW_s log_FLOW;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT;
@ -1129,7 +1130,12 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
// TODO not implemented yet
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_comp_x_m = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y_m = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.quality = buf.flow.quality;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
}
/* --- RC CHANNELS --- */

10
src/modules/sdlog2/sdlog2_messages.h
View File

@ -206,6 +206,15 @@ struct log_ARSP_s {
float pitch_rate_sp;
float yaw_rate_sp;
};
/* --- FLOW - FLOW DATA --- */
#define LOG_FLOW_MSG 16
struct log_FLOW_s {
float flow_comp_x_m;
float flow_comp_y_m;
float ground_distance_m;
uint8_t quality;
};
#pragma pack(pop)
/* construct list of all message formats */
@ -226,6 +235,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "fffB", "FlowX,FlowY,SonAlt,FQual")
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);