Mirrors_Framework/PX4-Autopilot
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log total airspeed for vtol

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tumbili
2015-01-18 17:46:25 +01:00
parent beab89367f
commit 3a05b57169
2 changed files with 18 additions and 0 deletions
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src/modules/sdlog2/sdlog2.c
+12
View File
@@ -94,6 +94,7 @@
#include <uORB/topics/servorail_status.h> #include <uORB/topics/servorail_status.h>
#include <uORB/topics/wind_estimate.h> #include <uORB/topics/wind_estimate.h>
#include <uORB/topics/encoders.h> #include <uORB/topics/encoders.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <systemlib/param/param.h> #include <systemlib/param/param.h>
@@ -1000,6 +1001,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct satellite_info_s sat_info; struct satellite_info_s sat_info;
struct wind_estimate_s wind_estimate; struct wind_estimate_s wind_estimate;
struct encoders_s encoders; struct encoders_s encoders;
struct vtol_vehicle_status_s vtol_status;
} buf; } buf;
memset(&buf, 0, sizeof(buf)); memset(&buf, 0, sizeof(buf));
@@ -1019,6 +1021,7 @@ 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_VTOL_s log_VTOL;
struct log_RC_s log_RC; struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0; struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS; struct log_AIRS_s log_AIRS;
@@ -1053,6 +1056,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct { struct {
int cmd_sub; int cmd_sub;
int status_sub; int status_sub;
int vtol_status_sub;
int sensor_sub; int sensor_sub;
int att_sub; int att_sub;
int att_sp_sub; int att_sp_sub;
@@ -1086,6 +1090,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
subs.vtol_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status));
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
@@ -1219,6 +1224,13 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(STAT); LOGBUFFER_WRITE_AND_COUNT(STAT);
} }
/* --- VTOL VEHICLE STATUS --- */
if(copy_if_updated(ORB_ID(vtol_vehicle_status), subs.vtol_status_sub, &buf.vtol_status)) {
log_msg.msg_type = LOG_VTOL_MSG;
log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot;
LOGBUFFER_WRITE_AND_COUNT(VTOL);
}
/* --- GPS POSITION - UNIT #1 --- */ /* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) { if (gps_pos_updated) {
src/modules/sdlog2/sdlog2_messages.h
+6
View File
@@ -426,6 +426,11 @@ struct log_ENCD_s {
/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */ /* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
#define LOG_AIR1_MSG 40 #define LOG_AIR1_MSG 40
/* --- VTOL - VTOL VEHICLE STATUS */
#define LOG_VTOL_MSG 42
struct log_VTOL_s {
float airspeed_tot;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/ /********** SYSTEM MESSAGES, ID > 0x80 **********/
@@ -468,6 +473,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"),
LOG_FORMAT(VTOL, "f", "Arsp"),
LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"), LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),