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Merge branch 'master' of github.com:PX4/Firmware into integration

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Lorenz Meier
2013-06-13 08:27:13 +02:00
parent 048967fb6f 42ce3112ad
commit 3945dae8d3
2 changed files with 38 additions and 16 deletions
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src/modules/sdlog2/sdlog2.c
+23 -15
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@@ -77,6 +77,7 @@
#include <uORB/topics/battery_status.h> #include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h> #include <uORB/topics/differential_pressure.h>
#include <uORB/topics/airspeed.h> #include <uORB/topics/airspeed.h>
#include <uORB/topics/rc_channels.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
@@ -209,7 +210,7 @@ sdlog2_usage(const char *reason)
errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\n" errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n" "\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-r\tLog buffer size in KBytes, default is 8\n" "\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n" "\t-e\tEnable logging by default (if not, can be started by command)\n"
"\t-a\tLog only when armed (can be still overriden by command)\n"); "\t-a\tLog only when armed (can be still overriden by command)\n");
} }
@@ -635,7 +636,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_gps_position_s gps_pos; struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos; struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow; struct optical_flow_s flow;
struct battery_status_s batt; struct rc_channels_s rc;
struct differential_pressure_s diff_pres; struct differential_pressure_s diff_pres;
struct airspeed_s airspeed; struct airspeed_s airspeed;
} buf; } buf;
@@ -656,9 +657,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int gps_pos_sub; int gps_pos_sub;
int vicon_pos_sub; int vicon_pos_sub;
int flow_sub; int flow_sub;
int batt_sub; int rc_sub;
int diff_pres_sub;
int airspeed_sub;
} subs; } subs;
/* log message buffer: header + body */ /* log message buffer: header + body */
@@ -676,6 +675,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPS_s log_GPS; struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC; struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT; struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
} body; } body;
} log_msg = { } log_msg = {
LOG_PACKET_HEADER_INIT(0) LOG_PACKET_HEADER_INIT(0)
@@ -720,7 +721,7 @@ int sdlog2_thread_main(int argc, char *argv[])
fdsc_count++; fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */ /* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID(actuator_outputs_0)); subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub; fds[fdsc_count].fd = subs.act_outputs_sub;
fds[fdsc_count].events = POLLIN; fds[fdsc_count].events = POLLIN;
fdsc_count++; fdsc_count++;
@@ -767,9 +768,9 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN; fds[fdsc_count].events = POLLIN;
fdsc_count++; fdsc_count++;
/* --- BATTERY STATUS --- */ /* --- RC CHANNELS --- */
subs.batt_sub = orb_subscribe(ORB_ID(battery_status)); subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
fds[fdsc_count].fd = subs.batt_sub; fds[fdsc_count].fd = subs.rc_sub;
fds[fdsc_count].events = POLLIN; fds[fdsc_count].events = POLLIN;
fdsc_count++; fdsc_count++;
@@ -968,7 +969,9 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ACTUATOR OUTPUTS --- */ /* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) { if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs); orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
// TODO not implemented yet log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
} }
/* --- ACTUATOR CONTROL --- */ /* --- ACTUATOR CONTROL --- */
@@ -1034,10 +1037,13 @@ int sdlog2_thread_main(int argc, char *argv[])
// TODO not implemented yet // TODO not implemented yet
} }
/* --- BATTERY STATUS --- */ /* --- RC CHANNELS --- */
if (fds[ifds++].revents & POLLIN) { if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
// TODO not implemented yet log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
LOGBUFFER_WRITE_AND_COUNT(RC);
} }
/* signal the other thread new data, but not yet unlock */ /* signal the other thread new data, but not yet unlock */
@@ -1073,10 +1079,12 @@ int sdlog2_thread_main(int argc, char *argv[])
void sdlog2_status() void sdlog2_status()
{ {
float mebibytes = log_bytes_written / 1024.0f / 1024.0f; float kibibytes = log_bytes_written / 1024.0f;
float mebibytes = kibibytes / 1024.0f;
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f; float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
warnx("wrote %lu msgs, %4.2f MiB (average %5.3f MiB/s), skipped %lu msgs.", log_msgs_written, (double)mebibytes, (double)(mebibytes / seconds), log_msgs_skipped); warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs.", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped);
mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs.", log_msgs_written, log_msgs_skipped);
} }
/** /**
src/modules/sdlog2/sdlog2_messages.h
+15 -1
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@@ -133,7 +133,7 @@ struct log_GPS_s {
float cog; float cog;
}; };
/* --- ATTC - ATTITUDE CONTROLS --- */ /* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
#define LOG_ATTC_MSG 9 #define LOG_ATTC_MSG 9
struct log_ATTC_s { struct log_ATTC_s {
float roll; float roll;
@@ -155,6 +155,18 @@ struct log_STAT_s {
float battery_remaining; float battery_remaining;
unsigned char battery_warning; unsigned char battery_warning;
}; };
/* --- RC - RC INPUT CHANNELS --- */
#define LOG_RC_MSG 11
struct log_RC_s {
float channel[8];
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
#define LOG_OUT0_MSG 12
struct log_OUT0_s {
float output[8];
};
#pragma pack(pop) #pragma pack(pop)
/* construct list of all message formats */ /* construct list of all message formats */
@@ -170,6 +182,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
}; };
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);