Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 06:36:45 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

Added vicon, actuator controls effective and optical flow to logging

Browse Source
This commit is contained in:
Lorenz Meier
2012-11-21 15:32:59 +01:00
parent ffda224b41
commit 25e304c869
4 changed files with 62 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/logging/logconv.m
+10 -1
View File
@@ -32,7 +32,7 @@ if exist(filePath, 'file')
fileSize = fileInfo.bytes;
fid = fopen(filePath, 'r');
elements = int64(fileSize./(16*4+8))/4
elements = int64(fileSize./(8+(3+3+3+1+1+1+4+8+1+3+3+3+3+9+6+4+6)*4))
for i=1:elements
% timestamp
@@ -79,6 +79,15 @@ if exist(filePath, 'file')
% RotMatrix (9 channels)
sensors(i,39:47) = fread(fid, 9, 'float', 0, 'ieee-le');
% vicon position (6 channels)
sensors(i,48:53) = fread(fid, 6, 'float', 0, 'ieee-le');
% actuator control effective (4 channels)
sensors(i,54:57) = fread(fid, 4, 'float', 0, 'ieee-le');
% optical flow (6 values)
sensors(i,58:63) = fread(fid, 6, 'float', 0, 'ieee-le');
end
time_us = sensors(elements,1) - sensors(1,1);
time_s = time_us*1e-6
apps/mavlink/mavlink_receiver.c
+4
View File
@@ -206,6 +206,10 @@ handle_message(mavlink_message_t *msg)
vicon_position.y = pos.y;
vicon_position.z = pos.z;
vicon_position.roll = pos.roll;
vicon_position.pitch = pos.pitch;
vicon_position.yaw = pos.yaw;
if (vicon_position_pub <= 0) {
vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
} else {
apps/sdlog/sdlog.c
+45 -6
View File
@@ -59,10 +59,13 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/optical_flow.h>
#include <systemlib/systemlib.h>
@@ -295,10 +298,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
struct vehicle_attitude_setpoint_s att_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_command_s cmd;
struct vehicle_local_position_s local_pos;
struct vehicle_global_position_s global_pos;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -308,10 +314,13 @@ int sdlog_thread_main(int argc, char *argv[]) {
int att_sub;
int spa_sub;
int act_0_sub;
int controls0_sub;
int controls_0_sub;
int controls_effective_0_sub;
int local_pos_sub;
int global_pos_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
} subs;
/* --- MANAGEMENT - LOGGING COMMAND --- */
@@ -353,8 +362,15 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* --- ACTUATOR CONTROL VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls0_sub;
subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.controls_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
/* subscribe to ORB for actuator control */
subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.controls_effective_0_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -379,6 +395,20 @@ int sdlog_thread_main(int argc, char *argv[]) {
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
/* subscribe to ORB for vicon position */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- FLOW measurements --- */
/* subscribe to ORB for flow measurements */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
@@ -481,7 +511,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
/* copy sensors raw data into local buffer */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
/* copy actuator data into local buffer */
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
@@ -489,6 +520,8 @@ int sdlog_thread_main(int argc, char *argv[]) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
#pragma pack(push, 1)
struct {
@@ -507,6 +540,9 @@ int sdlog_thread_main(int argc, char *argv[]) {
int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter]
float attitude[3]; //pitch, roll, yaw [rad]
float rotMatrix[9]; //unitvectors
float vicon[6];
float control_effective[4]; //roll, pitch, yaw [-1..1], thrust [0..1]
float flow[6]; // flow raw x, y, flow metric x, y, flow ground dist, flow quality
} sysvector = {
.timestamp = buf.raw.timestamp,
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
@@ -523,13 +559,16 @@ int sdlog_thread_main(int argc, char *argv[]) {
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]}
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}
};
#pragma pack(pop)
sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector));
usleep(10000); //10000 corresponds in reality to ca. 76 Hz
usleep(3500); // roughly 150 Hz
}
fsync(sysvector_file);
apps/uORB/topics/vehicle_vicon_position.h
+3 -3
View File
@@ -60,9 +60,9 @@ struct vehicle_vicon_position_s
float x; /**< X positin in meters in NED earth-fixed frame */
float y; /**< X positin in meters in NED earth-fixed frame */
float z; /**< Z positin in meters in NED earth-fixed frame (negative altitude) */
float vx;
float vy;
float vz;
float roll;
float pitch;
float yaw;
// TODO Add covariances here