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Merge pull request #1199 from PX4/navlogfix 

Nav log fix
This commit is contained in:
Lorenz Meier 2014-07-18 00:03:17 +02:00
parent 193e214b94 ba7df4c170
commit e4bdf2f65a
3 changed files with 17 additions and 12 deletions
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2
src/modules/navigator/navigator_main.cpp
View File

@ -458,7 +458,7 @@ void
Navigator::publish_position_setpoint_triplet()
{
/* update navigation state */
/* TODO: set nav_state */
_pos_sp_triplet.nav_state = _vstatus.nav_state;
/* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub > 0) {

25
src/modules/sdlog2/sdlog2.c
View File

@ -1432,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = 0; /* TODO: Fix this */
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.type = buf.triplet.current.type;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
if (buf.triplet.current.valid) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.type = buf.triplet.current.type;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
}
/* --- VICON POSITION --- */

2
src/modules/uORB/topics/position_setpoint_triplet.h
View File

@ -95,6 +95,8 @@ struct position_setpoint_triplet_s
struct position_setpoint_s previous;
struct position_setpoint_s current;
struct position_setpoint_s next;
unsigned nav_state; /**< report the navigation state */
};
/**