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delete sdlog2 EKF2 replay (#7982)

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This commit is contained in:
Daniel Agar
2017-09-19 10:20:41 -04:00
committed by GitHub
parent b00c93ac21
commit 3498fe0c6f
17 changed files with 11 additions and 1686 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rcS
+7 -14
View File
@@ -774,17 +774,7 @@ then
# #
if param compare SYS_LOGGER 0 if param compare SYS_LOGGER 0
then then
# check if we should increase logging rate for ekf2 replay message logging sdlog2 start -r 100 -a -b 9 -t
if param greater EKF2_REC_RPL 0
then
if sdlog2 start -r 500 -e -b 18 -t
then
fi
else
if sdlog2 start -r 100 -a -b 9 -t
then
fi
fi
else else
set LOGGER_ARGS "" set LOGGER_ARGS ""
# #
@@ -795,21 +785,24 @@ then
set LOGGER_BUF 64 set LOGGER_BUF 64
param set SDLOG_MODE 2 param set SDLOG_MODE 2
fi fi
if param compare SDLOG_MODE 1 if param compare SDLOG_MODE 1
then then
set LOGGER_ARGS "-e" set LOGGER_ARGS "-e"
fi fi
if param compare SDLOG_MODE 2 if param compare SDLOG_MODE 2
then then
set LOGGER_ARGS "-f" set LOGGER_ARGS "-f"
fi fi
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1
then then
set LOGGER_ARGS "-m mavlink" set LOGGER_ARGS "-m mavlink"
fi fi
if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
then logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
fi
unset LOGGER_BUF unset LOGGER_BUF
unset LOGGER_ARGS unset LOGGER_ARGS
fi fi
Tools/sitl_run.sh
-16
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@@ -114,26 +114,10 @@ then
echo "You need to have gazebo simulator installed!" echo "You need to have gazebo simulator installed!"
exit 1 exit 1
fi fi
elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
then
echo "Replaying logfile: $logfile"
# This is not a simulator, but a log file to replay
# Check if we need to creat a param file to allow user to change parameters
if ! [ -f "$rootfs/replay_params.txt" ]
then
mkdir -p $rootfs
touch $rootfs/replay_params.txt
fi
fi fi
cd $working_dir cd $working_dir
if [ "$logfile" != "" ]
then
cp $logfile $rootfs/replay.px4log
fi
# Do not exit on failure now from here on because we want the complete cleanup # Do not exit on failure now from here on because we want the complete cleanup
set +e set +e
Tools/uorb_rtps_message_ids.py
+1 -1
View File
@@ -21,7 +21,7 @@ msg_id_map = {
'differential_pressure': 16, 'differential_pressure': 16,
'distance_sensor': 17, 'distance_sensor': 17,
'ekf2_innovations': 18, 'ekf2_innovations': 18,
'ekf2_replay': 19,
'ekf2_timestamps': 20, 'ekf2_timestamps': 20,
'esc_report': 21, 'esc_report': 21,
'esc_status': 22, 'esc_status': 22,
cmake/configs/posix_sitl_default.cmake
-1
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@@ -79,7 +79,6 @@ set(config_module_list
# #
modules/attitude_estimator_q modules/attitude_estimator_q
modules/ekf2 modules/ekf2
modules/ekf2_replay
modules/local_position_estimator modules/local_position_estimator
modules/position_estimator_inav modules/position_estimator_inav
cmake/configs/posix_sitl_replay.cmake
-56
View File
@@ -1,56 +0,0 @@
include(posix/px4_impl_posix)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
set(config_module_list
drivers/device
drivers/boards/sitl
platforms/common
platforms/posix/px4_layer
platforms/posix/work_queue
systemcmds/param
systemcmds/ver
systemcmds/perf
modules/uORB
modules/systemlib/param
modules/systemlib
modules/ekf2
modules/ekf2_replay
modules/sdlog2
modules/logger
lib/controllib
lib/mathlib
lib/mathlib/math/filter
lib/conversion
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/version
lib/DriverFramework/framework
lib/micro-CDR
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_sitl_rcS_dir
posix-configs/SITL/init/replay
CACHE INTERNAL "init script dir for sitl"
)
set(config_sitl_viewer
replay
CACHE STRING "viewer for sitl"
)
set_property(CACHE config_sitl_viewer
PROPERTY STRINGS "replay;none")
set(config_sitl_debugger
disable
CACHE STRING "debugger for sitl"
)
set_property(CACHE config_sitl_debugger
PROPERTY STRINGS "disable;gdb;lldb")
msg/CMakeLists.txt
-1
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@@ -52,7 +52,6 @@ set(msg_file_names
differential_pressure.msg differential_pressure.msg
distance_sensor.msg distance_sensor.msg
ekf2_innovations.msg ekf2_innovations.msg
ekf2_replay.msg
ekf2_timestamps.msg ekf2_timestamps.msg
esc_report.msg esc_report.msg
esc_status.msg esc_status.msg
msg/ekf2_replay.msg
-49
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@@ -1,49 +0,0 @@
uint32 gyro_integral_dt # gyro integration period in us
uint32 accelerometer_integral_dt # accelerometer integration period in us
uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
uint64 baro_timestamp # timestamp of barometer measurement in us
uint64 rng_timestamp # timestamp of range finder measurement in us
uint64 flow_timestamp # timestamp of optical flow measurement in us
uint64 asp_timestamp # timestamp of airspeed measurement in us
uint64 ev_timestamp # timestamp of external vision measurement in us
float32[3] gyro_rad # gyro vector in rad
float32[3] accelerometer_m_s2 # accelerometer vector in m/s^2
float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga
float32 baro_alt_meter # barometer altitude measurement in m
uint64 time_usec # timestamp of gps position measurement in us
int32 lat # Latitude in 1E-7 degrees
int32 lon # Longitude in 1E-7 degrees
int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
uint8 fix_type
uint8 nsats # number of GPS satellites used by the receiver
float32 eph # GPS horizontal position accuracy (metres)
float32 epv # GPS vertical position accuracy (metres)
float32 sacc # GPS speed accuracy (metres/sec)
float32 vel_m_s # GPS ground speed, (metres/sec)
float32 vel_n_m_s # GPS North velocity, (metres/sec)
float32 vel_e_m_s # GPS East velocity, (metres/sec)
float32 vel_d_m_s # GPS Down velocity, (metres/sec)
bool vel_ned_valid # True if NED velocity is valid
# range finder measurements
float32 range_to_ground # range finder measured range to ground (m)
# optical flow sensor measurements
float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad)
float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad)
uint32 flow_time_integral # integration timespan (usec)
uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
# airspeed
float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
# external vision measurements
float32[3] pos_ev # position in earth (NED) frame (metres)
float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame
float32 pos_err # position error 1-std for each axis (metres)
float32 ang_err # angular error 1-std for each axis (rad)
posix-configs/SITL/init/replay/iris
-4
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@@ -1,4 +0,0 @@
uorb start
ekf2 start -r
sleep 0.2
ekf2_replay start replay.px4log
posix-configs/eagle/200qx/mainapp.config
-1
View File
@@ -2,7 +2,6 @@ uorb start
muorb start muorb start
logger start -t -b 200 logger start -t -b 200
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set SDLOG_PRIO_BOOST 3
dataman start dataman start
navigator start navigator start
mavlink start -u 14556 -r 1000000 mavlink start -u 14556 -r 1000000
posix-configs/eagle/210qc/mainapp.config
-1
View File
@@ -2,7 +2,6 @@ uorb start
muorb start muorb start
logger start -t -b 200 logger start -t -b 200
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set SDLOG_PRIO_BOOST 3
dataman start dataman start
navigator start navigator start
mavlink start -u 14556 -r 1000000 mavlink start -u 14556 -r 1000000
posix-configs/eagle/flight/mainapp.config
-1
View File
@@ -2,7 +2,6 @@ uorb start
muorb start muorb start
logger start -t -b 200 logger start -t -b 200
param set MAV_BROADCAST 1 param set MAV_BROADCAST 1
param set SDLOG_PRIO_BOOST 3
dataman start dataman start
navigator start navigator start
mavlink start -u 14556 -r 1000000 mavlink start -u 14556 -r 1000000
src/modules/ekf2/ekf2_main.cpp
-96
View File
@@ -64,7 +64,6 @@
#include <uORB/topics/wind_estimate.h> #include <uORB/topics/wind_estimate.h>
#include <uORB/topics/estimator_status.h> #include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf2_innovations.h> #include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/ekf2_replay.h>
#include <uORB/topics/ekf2_timestamps.h> #include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/optical_flow.h> #include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h> #include <uORB/topics/distance_sensor.h>
@@ -162,7 +161,6 @@ private:
orb_advert_t _wind_pub; orb_advert_t _wind_pub;
orb_advert_t _estimator_status_pub; orb_advert_t _estimator_status_pub;
orb_advert_t _estimator_innovations_pub; orb_advert_t _estimator_innovations_pub;
orb_advert_t _replay_pub;
orb_advert_t _ekf2_timestamps_pub; orb_advert_t _ekf2_timestamps_pub;
uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub; uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
@@ -235,8 +233,6 @@ private:
control::BlockParamExtFloat _requiredHdrift; ///< maximum acceptable horizontal drift speed (m/s) control::BlockParamExtFloat _requiredHdrift; ///< maximum acceptable horizontal drift speed (m/s)
control::BlockParamExtFloat _requiredVdrift; ///< maximum acceptable vertical drift speed (m/s) control::BlockParamExtFloat _requiredVdrift; ///< maximum acceptable vertical drift speed (m/s)
control::BlockParamInt _param_record_replay_msg; ///< turns on recording of ekf2 replay messages
// measurement source control // measurement source control
control::BlockParamExtInt control::BlockParamExtInt
_fusion_mode; ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used _fusion_mode; ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
@@ -339,7 +335,6 @@ Ekf2::Ekf2():
_wind_pub(nullptr), _wind_pub(nullptr),
_estimator_status_pub(nullptr), _estimator_status_pub(nullptr),
_estimator_innovations_pub(nullptr), _estimator_innovations_pub(nullptr),
_replay_pub(nullptr),
_ekf2_timestamps_pub(nullptr), _ekf2_timestamps_pub(nullptr),
_vehicle_local_position_pub(ORB_ID(vehicle_local_position), -1, &getPublications()), _vehicle_local_position_pub(ORB_ID(vehicle_local_position), -1, &getPublications()),
_vehicle_global_position_pub(ORB_ID(vehicle_global_position), -1, &getPublications()), _vehicle_global_position_pub(ORB_ID(vehicle_global_position), -1, &getPublications()),
@@ -391,7 +386,6 @@ Ekf2::Ekf2():
_requiredGDoP(this, "EKF2_REQ_GDOP", false, _params->req_gdop), _requiredGDoP(this, "EKF2_REQ_GDOP", false, _params->req_gdop),
_requiredHdrift(this, "EKF2_REQ_HDRIFT", false, _params->req_hdrift), _requiredHdrift(this, "EKF2_REQ_HDRIFT", false, _params->req_hdrift),
_requiredVdrift(this, "EKF2_REQ_VDRIFT", false, _params->req_vdrift), _requiredVdrift(this, "EKF2_REQ_VDRIFT", false, _params->req_vdrift),
_param_record_replay_msg(this, "EKF2_REC_RPL", false),
_fusion_mode(this, "EKF2_AID_MASK", false, _params->fusion_mode), _fusion_mode(this, "EKF2_AID_MASK", false, _params->fusion_mode),
_vdist_sensor_type(this, "EKF2_HGT_MODE", false, _params->vdist_sensor_type), _vdist_sensor_type(this, "EKF2_HGT_MODE", false, _params->vdist_sensor_type),
_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise), _range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
@@ -1355,96 +1349,6 @@ void Ekf2::run()
orb_publish(ORB_ID(ekf2_timestamps), _ekf2_timestamps_pub, &ekf2_timestamps); orb_publish(ORB_ID(ekf2_timestamps), _ekf2_timestamps_pub, &ekf2_timestamps);
} }
} }
// publish replay message if in replay mode
if (_param_record_replay_msg.get() == 1) {
struct ekf2_replay_s replay = {};
replay.timestamp = now;
replay.gyro_integral_dt = sensors.gyro_integral_dt;
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
replay.magnetometer_timestamp = _timestamp_mag_us;
replay.baro_timestamp = _timestamp_balt_us;
memcpy(replay.gyro_rad, sensors.gyro_rad, sizeof(replay.gyro_rad));
memcpy(replay.accelerometer_m_s2, sensors.accelerometer_m_s2, sizeof(replay.accelerometer_m_s2));
memcpy(replay.magnetometer_ga, sensors.magnetometer_ga, sizeof(replay.magnetometer_ga));
replay.baro_alt_meter = sensors.baro_alt_meter;
// only write gps data if we had a gps update.
if (gps_updated) {
replay.time_usec = gps.timestamp;
replay.lat = gps.lat;
replay.lon = gps.lon;
replay.alt = gps.alt;
replay.fix_type = gps.fix_type;
replay.nsats = gps.satellites_used;
replay.eph = gps.eph;
replay.epv = gps.epv;
replay.sacc = gps.s_variance_m_s;
replay.vel_m_s = gps.vel_m_s;
replay.vel_n_m_s = gps.vel_n_m_s;
replay.vel_e_m_s = gps.vel_e_m_s;
replay.vel_d_m_s = gps.vel_d_m_s;
replay.vel_ned_valid = gps.vel_ned_valid;
} else {
// this will tell the logging app not to bother logging any gps replay data
replay.time_usec = 0;
}
if (optical_flow_updated) {
replay.flow_timestamp = optical_flow.timestamp;
replay.flow_pixel_integral[0] = optical_flow.pixel_flow_x_integral;
replay.flow_pixel_integral[1] = optical_flow.pixel_flow_y_integral;
replay.flow_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
replay.flow_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
replay.flow_time_integral = optical_flow.integration_timespan;
replay.flow_quality = optical_flow.quality;
} else {
replay.flow_timestamp = 0;
}
if (range_finder_updated) {
replay.rng_timestamp = range_finder.timestamp;
replay.range_to_ground = range_finder.current_distance;
} else {
replay.rng_timestamp = 0;
}
if (airspeed_updated) {
replay.asp_timestamp = airspeed.timestamp;
replay.indicated_airspeed_m_s = airspeed.indicated_airspeed_m_s;
replay.true_airspeed_m_s = airspeed.true_airspeed_m_s;
} else {
replay.asp_timestamp = 0;
}
if (vision_position_updated || vision_attitude_updated) {
replay.ev_timestamp = vision_position_updated ? ev_pos.timestamp : ev_att.timestamp;
replay.pos_ev[0] = ev_pos.x;
replay.pos_ev[1] = ev_pos.y;
replay.pos_ev[2] = ev_pos.z;
replay.quat_ev[0] = ev_att.q[0];
replay.quat_ev[1] = ev_att.q[1];
replay.quat_ev[2] = ev_att.q[2];
replay.quat_ev[3] = ev_att.q[3];
// TODO: switch to covariances from topic later
replay.pos_err = _ev_pos_noise.get();
replay.ang_err = _ev_ang_noise.get();
} else {
replay.ev_timestamp = 0;
}
if (_replay_pub == nullptr) {
_replay_pub = orb_advertise(ORB_ID(ekf2_replay), &replay);
} else {
orb_publish(ORB_ID(ekf2_replay), _replay_pub, &replay);
}
}
} }
orb_unsubscribe(sensors_sub); orb_unsubscribe(sensors_sub);
src/modules/ekf2/ekf2_params.c
-11
View File
@@ -521,17 +521,6 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
*/ */
PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
/**
* Replay mode
*
* A value of 1 indicates that the ekf2 module will publish
* replay messages for logging.
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
/** /**
* Integer bitmask controlling data fusion and aiding methods. * Integer bitmask controlling data fusion and aiding methods.
* *
src/modules/ekf2_replay/CMakeLists.txt
-46
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@@ -1,46 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
px4_add_module(
MODULE modules__ekf2_replay
MAIN ekf2_replay
COMPILE_FLAGS
-Wno-sign-compare # TODO: fix all sign-compare
STACK_MAIN 1000
STACK_MAX 4000
SRCS
ekf2_replay_main.cpp
DEPENDS
platforms__common
git_ecl
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/ekf2_replay/ekf2_replay_main.cpp
-1143
View File
File diff suppressed because it is too large Load Diff
src/modules/sdlog2/sdlog2.c
+3 -158
View File
@@ -97,7 +97,6 @@
#include <uORB/topics/mc_att_ctrl_status.h> #include <uORB/topics/mc_att_ctrl_status.h>
#include <uORB/topics/ekf2_innovations.h> #include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/camera_trigger.h> #include <uORB/topics/camera_trigger.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 <uORB/topics/cpuload.h>
@@ -1149,25 +1148,10 @@ int sdlog2_thread_main(int argc, char *argv[])
/* There are different log types possible on different platforms. */ /* There are different log types possible on different platforms. */
enum { enum {
LOG_TYPE_NORMAL, LOG_TYPE_NORMAL,
LOG_TYPE_REPLAY_ONLY,
LOG_TYPE_ALL LOG_TYPE_ALL
} log_type; } log_type;
/* Check if we are gathering data for a replay log for ekf2. */ log_type = LOG_TYPE_NORMAL;
param_t replay_handle = param_find("EKF2_REC_RPL");
int32_t tmp = 0;
param_get(replay_handle, &tmp);
bool record_replay_log = (bool)tmp;
if (record_replay_log) {
#if defined(__PX4_QURT) || defined(__PX4_POSIX)
log_type = LOG_TYPE_ALL;
#else
log_type = LOG_TYPE_REPLAY_ONLY;
#endif
} else {
log_type = LOG_TYPE_NORMAL;
}
/* warning! using union here to save memory, elements should be used separately! */ /* warning! using union here to save memory, elements should be used separately! */
union { union {
@@ -1206,7 +1190,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct control_state_s ctrl_state; struct control_state_s ctrl_state;
struct ekf2_innovations_s innovations; struct ekf2_innovations_s innovations;
struct camera_trigger_s camera_trigger; struct camera_trigger_s camera_trigger;
struct ekf2_replay_s replay;
struct vehicle_land_detected_s land_detected; struct vehicle_land_detected_s land_detected;
struct cpuload_s cpuload; struct cpuload_s cpuload;
struct vehicle_gps_position_s dual_gps_pos; struct vehicle_gps_position_s dual_gps_pos;
@@ -1263,14 +1246,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_EST4_s log_INO1; struct log_EST4_s log_INO1;
struct log_EST5_s log_INO2; struct log_EST5_s log_INO2;
struct log_CAMT_s log_CAMT; struct log_CAMT_s log_CAMT;
struct log_RPL1_s log_RPL1;
struct log_RPL2_s log_RPL2;
struct log_EST6_s log_INO3; struct log_EST6_s log_INO3;
struct log_RPL3_s log_RPL3;
struct log_RPL4_s log_RPL4;
struct log_RPL5_s log_RPL5;
struct log_LAND_s log_LAND; struct log_LAND_s log_LAND;
struct log_RPL6_s log_RPL6;
struct log_LOAD_s log_LOAD; struct log_LOAD_s log_LOAD;
struct log_DPRS_s log_DPRS; struct log_DPRS_s log_DPRS;
struct log_STCK_s log_STCK; struct log_STCK_s log_STCK;
@@ -1319,7 +1296,6 @@ int sdlog2_thread_main(int argc, char *argv[])
int ctrl_state_sub; int ctrl_state_sub;
int innov_sub; int innov_sub;
int cam_trig_sub; int cam_trig_sub;
int replay_sub;
int land_detected_sub; int land_detected_sub;
int commander_state_sub; int commander_state_sub;
int cpuload_sub; int cpuload_sub;
@@ -1363,7 +1339,6 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.ctrl_state_sub = -1; subs.ctrl_state_sub = -1;
subs.innov_sub = -1; subs.innov_sub = -1;
subs.cam_trig_sub = -1; subs.cam_trig_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; subs.cpuload_sub = -1;
@@ -1372,7 +1347,6 @@ int sdlog2_thread_main(int argc, char *argv[])
/* add new topics HERE */ /* add new topics HERE */
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) { for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
subs.telemetry_subs[i] = -1; subs.telemetry_subs[i] = -1;
} }
@@ -1408,7 +1382,7 @@ int sdlog2_thread_main(int argc, char *argv[])
thread_running = true; thread_running = true;
// wakeup source // wakeup source
px4_pollfd_struct_t fds[2]; px4_pollfd_struct_t fds[1];
unsigned px4_pollfd_len = 0; unsigned px4_pollfd_len = 0;
int poll_counter = 0; int poll_counter = 0;
@@ -1421,11 +1395,7 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[0].fd = subs.sensor_sub; fds[0].fd = subs.sensor_sub;
fds[0].events = POLLIN; fds[0].events = POLLIN;
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay)); px4_pollfd_len = 1;
fds[1].fd = subs.replay_sub;
fds[1].events = POLLIN;
px4_pollfd_len = 2;
poll_to_logging_factor = 1; poll_to_logging_factor = 1;
@@ -1442,18 +1412,6 @@ int sdlog2_thread_main(int argc, char *argv[])
// TODO Remove hardcoded rate! // TODO Remove hardcoded rate!
poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate); poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate);
break;
case LOG_TYPE_REPLAY_ONLY:
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay));
fds[0].fd = subs.replay_sub;
fds[0].events = POLLIN;
px4_pollfd_len = 1;
poll_to_logging_factor = 1;
break; break;
} }
@@ -1521,10 +1479,6 @@ int sdlog2_thread_main(int argc, char *argv[])
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
} }
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
}
break; break;
case LOG_TYPE_NORMAL: case LOG_TYPE_NORMAL:
@@ -1532,12 +1486,6 @@ int sdlog2_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
} }
break; break;
case LOG_TYPE_REPLAY_ONLY:
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
}
break;
} }
poll_counter++; poll_counter++;
continue; continue;
@@ -1563,109 +1511,6 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(STAT); LOGBUFFER_WRITE_AND_COUNT(STAT);
} }
/* --- EKF2 REPLAY --- */
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_REPLAY_ONLY) {
bool replay_updated = false;
if (log_type == LOG_TYPE_ALL) {
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
replay_updated = true;
}
} else if (log_type == LOG_TYPE_REPLAY_ONLY) {
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
replay_updated = true;
}
}
if (replay_updated) {
log_msg.msg_type = LOG_RPL1_MSG;
log_msg.body.log_RPL1.time_ref = buf.replay.timestamp;
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
log_msg.body.log_RPL1.accelerometer_integral_dt = buf.replay.accelerometer_integral_dt;
log_msg.body.log_RPL1.magnetometer_timestamp = buf.replay.magnetometer_timestamp;
log_msg.body.log_RPL1.baro_timestamp = buf.replay.baro_timestamp;
log_msg.body.log_RPL1.gyro_x_rad = buf.replay.gyro_rad[0];
log_msg.body.log_RPL1.gyro_y_rad = buf.replay.gyro_rad[1];
log_msg.body.log_RPL1.gyro_z_rad = buf.replay.gyro_rad[2];
log_msg.body.log_RPL1.accelerometer_x_m_s2 = buf.replay.accelerometer_m_s2[0];
log_msg.body.log_RPL1.accelerometer_y_m_s2 = buf.replay.accelerometer_m_s2[1];
log_msg.body.log_RPL1.accelerometer_z_m_s2 = buf.replay.accelerometer_m_s2[2];
log_msg.body.log_RPL1.magnetometer_x_ga = buf.replay.magnetometer_ga[0];
log_msg.body.log_RPL1.magnetometer_y_ga = buf.replay.magnetometer_ga[1];
log_msg.body.log_RPL1.magnetometer_z_ga = buf.replay.magnetometer_ga[2];
log_msg.body.log_RPL1.baro_alt_meter = buf.replay.baro_alt_meter;
LOGBUFFER_WRITE_AND_COUNT(RPL1);
// only log the gps replay data if it actually updated
if (buf.replay.time_usec > 0) {
log_msg.msg_type = LOG_RPL2_MSG;
log_msg.body.log_RPL2.time_pos_usec = buf.replay.time_usec;
log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec;
log_msg.body.log_RPL2.lat = buf.replay.lat;
log_msg.body.log_RPL2.lon = buf.replay.lon;
log_msg.body.log_RPL2.alt = buf.replay.alt;
log_msg.body.log_RPL2.fix_type = buf.replay.fix_type;
log_msg.body.log_RPL2.nsats = buf.replay.nsats;
log_msg.body.log_RPL2.eph = buf.replay.eph;
log_msg.body.log_RPL2.epv = buf.replay.epv;
log_msg.body.log_RPL2.sacc = buf.replay.sacc;
log_msg.body.log_RPL2.vel_m_s = buf.replay.vel_m_s;
log_msg.body.log_RPL2.vel_n_m_s = buf.replay.vel_n_m_s;
log_msg.body.log_RPL2.vel_e_m_s = buf.replay.vel_e_m_s;
log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
LOGBUFFER_WRITE_AND_COUNT(RPL2);
}
if (buf.replay.flow_timestamp > 0) {
log_msg.msg_type = LOG_RPL3_MSG;
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
LOGBUFFER_WRITE_AND_COUNT(RPL3);
}
if (buf.replay.rng_timestamp > 0) {
log_msg.msg_type = LOG_RPL4_MSG;
log_msg.body.log_RPL4.time_rng_usec = buf.replay.rng_timestamp;
log_msg.body.log_RPL4.range_to_ground = buf.replay.range_to_ground;
LOGBUFFER_WRITE_AND_COUNT(RPL4);
}
if (buf.replay.asp_timestamp > 0) {
log_msg.msg_type = LOG_RPL6_MSG;
log_msg.body.log_RPL6.time_airs_usec = buf.replay.asp_timestamp;
log_msg.body.log_RPL6.indicated_airspeed_m_s = buf.replay.indicated_airspeed_m_s;
log_msg.body.log_RPL6.true_airspeed_m_s = buf.replay.true_airspeed_m_s;
LOGBUFFER_WRITE_AND_COUNT(RPL6);
}
if (buf.replay.ev_timestamp > 0) {
log_msg.msg_type = LOG_RPL5_MSG;
log_msg.body.log_RPL5.time_ev_usec = buf.replay.ev_timestamp;
log_msg.body.log_RPL5.x = buf.replay.pos_ev[0];
log_msg.body.log_RPL5.y = buf.replay.pos_ev[1];
log_msg.body.log_RPL5.z = buf.replay.pos_ev[2];
log_msg.body.log_RPL5.q0 = buf.replay.quat_ev[0];
log_msg.body.log_RPL5.q1 = buf.replay.quat_ev[1];
log_msg.body.log_RPL5.q2 = buf.replay.quat_ev[2];
log_msg.body.log_RPL5.q3 = buf.replay.quat_ev[3];
log_msg.body.log_RPL5.pos_err = buf.replay.pos_err;
log_msg.body.log_RPL5.ang_err = buf.replay.ang_err;
LOGBUFFER_WRITE_AND_COUNT(RPL5);
}
}
}
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_NORMAL) { if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_NORMAL) {
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
src/modules/sdlog2/sdlog2_messages.h
-87
View File
@@ -514,63 +514,12 @@ struct log_EST5_s {
#define LOG_OUT1_MSG 50 #define LOG_OUT1_MSG 50
/* --- EKF2 REPLAY Part 1 --- */
#define LOG_RPL1_MSG 51
struct log_RPL1_s {
uint64_t time_ref;
uint32_t gyro_integral_dt;
uint32_t accelerometer_integral_dt;
uint64_t magnetometer_timestamp;
uint64_t baro_timestamp;
float gyro_x_rad;
float gyro_y_rad;
float gyro_z_rad;
float accelerometer_x_m_s2;
float accelerometer_y_m_s2;
float accelerometer_z_m_s2;
float magnetometer_x_ga;
float magnetometer_y_ga;
float magnetometer_z_ga;
float baro_alt_meter;
};
/* --- EKF2 REPLAY Part 2 --- */
#define LOG_RPL2_MSG 52
struct log_RPL2_s {
uint64_t time_pos_usec;
uint64_t time_vel_usec;
int32_t lat;
int32_t lon;
int32_t alt;
uint8_t fix_type;
uint8_t nsats;
float eph;
float epv;
float sacc;
float vel_m_s;
float vel_n_m_s;
float vel_e_m_s;
float vel_d_m_s;
bool vel_ned_valid;
};
/* --- EST6 - ESTIMATOR INNOVATIONS --- */ /* --- EST6 - ESTIMATOR INNOVATIONS --- */
#define LOG_EST6_MSG 53 #define LOG_EST6_MSG 53
struct log_EST6_s { struct log_EST6_s {
float s[6]; float s[6];
}; };
/* --- EKF2 REPLAY Part 3 --- */
#define LOG_RPL3_MSG 54
struct log_RPL3_s {
uint64_t time_flow_usec;
float flow_integral_x;
float flow_integral_y;
float gyro_integral_x;
float gyro_integral_y;
uint32_t flow_time_integral;
uint8_t flow_quality;
};
/* --- CAMERA TRIGGER --- */ /* --- CAMERA TRIGGER --- */
#define LOG_CAMT_MSG 55 #define LOG_CAMT_MSG 55
struct log_CAMT_s { struct log_CAMT_s {
@@ -578,13 +527,6 @@ struct log_CAMT_s {
uint32_t seq; uint32_t seq;
}; };
/* --- EKF2 REPLAY Part 4 --- */
#define LOG_RPL4_MSG 56
struct log_RPL4_s {
uint64_t time_rng_usec;
float range_to_ground;
};
/* --- LAND DETECTOR --- */ /* --- LAND DETECTOR --- */
#define LOG_LAND_MSG 57 #define LOG_LAND_MSG 57
struct log_LAND_s { struct log_LAND_s {
@@ -594,29 +536,6 @@ struct log_LAND_s {
/* 58 used for DGPS message /* 58 used for DGPS message
shares struct with GPS MSG 8*/ shares struct with GPS MSG 8*/
/* --- EKF2 REPLAY Part 6 --- */
#define LOG_RPL6_MSG 59
struct log_RPL6_s {
uint64_t time_airs_usec;
float indicated_airspeed_m_s;
float true_airspeed_m_s;
};
/* --- EKF2 REPLAY Part 5 --- */
#define LOG_RPL5_MSG 60
struct log_RPL5_s {
uint64_t time_ev_usec;
float x;
float y;
float z;
float q0;
float q1;
float q2;
float q3;
float pos_err;
float ang_err;
};
/* --- SYSTEM LOAD --- */ /* --- SYSTEM LOAD --- */
#define LOG_LOAD_MSG 61 #define LOG_LOAD_MSG 61
struct log_LOAD_s { struct log_LOAD_s {
@@ -720,12 +639,6 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(TSYN, "Q", "TimeOffset"), LOG_FORMAT(TSYN, "Q", "TimeOffset"),
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"), LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
LOG_FORMAT(CAMT, "QI", "timestamp,seq"), LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
LOG_FORMAT(RPL1, "QffQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gx,gy,gz,ax,ay,az,magX,magY,magZ,b_alt"),
LOG_FORMAT(RPL2, "QQLLiMMfffffffM", "Tpos,Tvel,lat,lon,alt,fix,nsats,eph,epv,sacc,v,vN,vE,vD,v_val"),
LOG_FORMAT(RPL3, "QffffIB", "Tflow,fx,fy,gx,gy,delT,qual"),
LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
LOG_FORMAT(RPL5, "Qfffffffff", "Tev,x,y,z,q0,q1,q2,q3,posErr,angErr"),
LOG_FORMAT(RPL6, "Qff", "Tasp,inAsp,trAsp"),
LOG_FORMAT(LAND, "B", "Landed"), LOG_FORMAT(LAND, "B", "Landed"),
LOG_FORMAT(LOAD, "f", "CPU"), LOG_FORMAT(LOAD, "f", "CPU"),
LOG_FORMAT(DPRS, "Qffff", "errors,DPRESraw,DPRES,DPRESmax,Temp"), LOG_FORMAT(DPRS, "Qffff", "errors,DPRESraw,DPRES,DPRESmax,Temp"),