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px4-firmware
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Merge remote-tracking branch 'upstream/master' into new_state_machine 

Conflicts:
	src/modules/sdlog2/sdlog2.c
	src/modules/sdlog2/sdlog2_messages.h
This commit is contained in:
Julian Oes 2013-06-27 09:23:11 +02:00
parent 0ecc9c4bf4 8191130bbc
commit f052442c2b
3 changed files with 17 additions and 10 deletions
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10
src/modules/sdlog2/sdlog2.c
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@ -695,6 +695,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@ -1131,10 +1132,13 @@ int sdlog2_thread_main(int argc, char *argv[])
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
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.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.quality = buf.flow.quality;
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
}

13
src/modules/sdlog2/sdlog2_messages.h
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@ -207,13 +207,16 @@ struct log_ARSP_s {
float yaw_rate_sp;
};
/* --- FLOW - FLOW DATA --- */
/* --- FLOW - OPTICAL FLOW --- */
#define LOG_FLOW_MSG 16
struct log_FLOW_s {
float flow_comp_x_m;
float flow_comp_y_m;
float ground_distance_m;
int16_t flow_raw_x;
int16_t flow_raw_y;
float flow_comp_x;
float flow_comp_y;
float distance;
uint8_t quality;
uint8_t sensor_id;
};
#pragma pack(pop)
@ -235,7 +238,7 @@ 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")
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);

4
src/modules/uORB/topics/optical_flow.h
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@ -57,8 +57,8 @@ struct optical_flow_s {
uint64_t timestamp; /**< in microseconds since system start */
uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
uint16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
float ground_distance_m; /**< Altitude / distance to ground in meters */