From ef6af184aa7858a9124de13c958f02b140b0f712 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Jun 2014 15:35:26 +0200
Subject: [PATCH] sdlog2: Logging wind estimate at low rate

---
 src/modules/sdlog2/sdlog2.c          | 17 +++++++++++++++++
 src/modules/sdlog2/sdlog2_messages.h | 10 ++++++++++
 2 files changed, 27 insertions(+)

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 17461f5874..c19579f0f9 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -87,6 +87,7 @@
 #include <uORB/topics/tecs_status.h>
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/servorail_status.h>
+#include <uORB/topics/wind_estimate.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -943,6 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct tecs_status_s tecs_status;
 		struct system_power_s system_power;
 		struct servorail_status_s servorail_status;
+		struct wind_estimate_s wind_estimate;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -982,6 +984,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GS1A_s log_GS1A;
 			struct log_GS1B_s log_GS1B;
 			struct log_TECS_s log_TECS;
+			struct log_WIND_s log_WIND;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1016,6 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int tecs_status_sub;
 		int system_power_sub;
 		int servorail_status_sub;
+		int wind_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1044,6 +1048,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
 	subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
 	subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
+	subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
+	/* we need to rate-limit wind, as we do not need the full update rate */
+	orb_set_interval(subs.wind_sub, 90);
 
 	thread_running = true;
 
@@ -1512,6 +1519,16 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(TECS);
 		}
 
+		/* --- WIND ESTIMATE --- */
+		if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) {
+			log_msg.msg_type = LOG_WIND_MSG;
+			log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
+			log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
+			log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
+			log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
+			LOGBUFFER_WRITE_AND_COUNT(WIND);
+		}
+
 		/* signal the other thread new data, but not yet unlock */
 		if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 			/* only request write if several packets can be written at once */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 83832580ca..a6eb7a5bd3 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -366,6 +366,15 @@ struct log_TECS_s {
 	uint8_t mode;
 };
 
+/* --- WIND - WIND ESTIMATE --- */
+#define LOG_WIND_MSG 31
+struct log_WIND_s {
+	float x;
+	float y;
+	float cov_x;
+	float cov_y;
+};
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -422,6 +431,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(TECS, "ffffffffffffB",	"AltSP,Alt,FpaSP,Fpa,AsSP,As,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"),
+	LOG_FORMAT(WIND, "fff",	"X,Y,Cov"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */