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sdlog2: subscribe to and use cpuload message instead of vehicle_status

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Jonathan Challinger
2016-02-26 18:14:59 -08:00
committed by Lorenz Meier
parent 7ec37d5ffd
commit 01305da7e7
1 changed files with 12 additions and 1 deletions
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src/modules/sdlog2/sdlog2.c
+12 -1
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@@ -115,6 +115,7 @@
#include <uORB/topics/ekf2_replay.h> #include <uORB/topics/ekf2_replay.h>
#include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/commander_state.h> #include <uORB/topics/commander_state.h>
#include <uORB/topics/cpuload.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
@@ -1190,6 +1191,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct camera_trigger_s camera_trigger; struct camera_trigger_s camera_trigger;
struct ekf2_replay_s replay; struct ekf2_replay_s replay;
struct vehicle_land_detected_s land_detected; struct vehicle_land_detected_s land_detected;
struct cpuload_s cpuload;
} buf; } buf;
memset(&buf, 0, sizeof(buf)); memset(&buf, 0, sizeof(buf));
@@ -1298,6 +1300,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int replay_sub; int replay_sub;
int land_detected_sub; int land_detected_sub;
int commander_state_sub; int commander_state_sub;
int cpuload_sub;
} subs; } subs;
subs.cmd_sub = -1; subs.cmd_sub = -1;
@@ -1339,6 +1342,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.replay_sub = -1; subs.replay_sub = -1;
subs.land_detected_sub = -1; subs.land_detected_sub = -1;
subs.commander_state_sub = -1; subs.commander_state_sub = -1;
subs.cpuload_sub = -1;
/* add new topics HERE */ /* add new topics HERE */
@@ -1508,7 +1512,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.nav_state = buf_status.nav_state; log_msg.body.log_STAT.nav_state = buf_status.nav_state;
log_msg.body.log_STAT.arming_state = buf_status.arming_state; log_msg.body.log_STAT.arming_state = buf_status.arming_state;
log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe; log_msg.body.log_STAT.failsafe = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.load = buf_status.load;
LOGBUFFER_WRITE_AND_COUNT(STAT); LOGBUFFER_WRITE_AND_COUNT(STAT);
} }
@@ -2237,6 +2240,14 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(LAND); LOGBUFFER_WRITE_AND_COUNT(LAND);
} }
/* --- LOAD --- */
if (copy_if_updated(ORB_ID(cpuload), &subs.cpuload_sub, &buf.cpuload)) {
log_msg.msg_type = LOG_LOAD_MSG;
log_msg.body.log_LOAD.cpu = buf.load.cpu;
LOGBUFFER_WRITE_AND_COUNT(LOAD);
}
pthread_mutex_lock(&logbuffer_mutex); pthread_mutex_lock(&logbuffer_mutex);
/* signal the other thread new data, but not yet unlock */ /* signal the other thread new data, but not yet unlock */