Merged

Tools/sdlog2_dump.py

@@ -0,0 +1,293 @@
+#!/usr/bin/env python
+
+"""Dump binary log generated by sdlog2 or APM as CSV
+    
+Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]]
+    
+    -v  Use plain debug output instead of CSV.
+    
+	-e	Recover from errors.
+    
+    -d  Use "delimiter" in CSV. Default is ",".
+    
+    -n  Use "null" as placeholder for empty values in CSV. Default is empty.
+    
+    -m MSG[.field1,field2,...]
+        Dump only messages of specified type, and only specified fields.
+        Multiple -m options allowed."""
+
+__author__  = "Anton Babushkin"
+__version__ = "1.2"
+
+import struct, sys
+
+class SDLog2Parser:
+    BLOCK_SIZE = 8192
+    MSG_HEADER_LEN = 3
+    MSG_HEAD1 = 0xA3
+    MSG_HEAD2 = 0x95
+    MSG_FORMAT_PACKET_LEN = 89
+    MSG_FORMAT_STRUCT = "BB4s16s64s"
+    MSG_TYPE_FORMAT = 0x80
+    FORMAT_TO_STRUCT = {
+        "b": ("b", None),
+        "B": ("B", None),
+        "h": ("h", None),
+        "H": ("H", None),
+        "i": ("i", None),
+        "I": ("I", None),
+        "f": ("f", None),
+        "n": ("4s", None),
+        "N": ("16s", None),
+        "Z": ("64s", None),
+        "c": ("h", 0.01),
+        "C": ("H", 0.01),
+        "e": ("i", 0.01),
+        "E": ("I", 0.01),
+        "L": ("i", 0.0000001),
+        "M": ("b", None),
+        "q": ("q", None),
+        "Q": ("Q", None),
+    }
+    __csv_delim = ","
+    __csv_null = ""
+    __msg_filter = []
+    __time_msg = None
+    __debug_out = False
+    __correct_errors = False
+    
+    def __init__(self):
+        return
+    
+    def reset(self):
+        self.__msg_descrs = {}      # message descriptions by message type map
+        self.__msg_labels = {}      # message labels by message name map
+        self.__msg_names = []       # message names in the same order as FORMAT messages
+        self.__buffer = ""          # buffer for input binary data
+        self.__ptr = 0              # read pointer in buffer
+        self.__csv_columns = []     # CSV file columns in correct order in format "MSG.label"
+        self.__csv_data = {}        # current values for all columns
+        self.__csv_updated = False
+        self.__msg_filter_map = {}  # filter in form of map, with '*" expanded to full list of fields
+    
+    def setCSVDelimiter(self, csv_delim):
+        self.__csv_delim = csv_delim
+    
+    def setCSVNull(self, csv_null):
+        self.__csv_null = csv_null
+    
+    def setMsgFilter(self, msg_filter):
+        self.__msg_filter = msg_filter
+    
+    def setTimeMsg(self, time_msg):
+        self.__time_msg = time_msg
+    
+    def setDebugOut(self, debug_out):
+        self.__debug_out = debug_out
+
+    def setCorrectErrors(self, correct_errors):
+        self.__correct_errors = correct_errors
+    
+    def process(self, fn):
+        self.reset()
+        if self.__debug_out:
+            # init __msg_filter_map
+            for msg_name, show_fields in self.__msg_filter:
+                self.__msg_filter_map[msg_name] = show_fields
+        first_data_msg = True
+        f = open(fn, "r")
+        bytes_read = 0
+        while True:
+            chunk = f.read(self.BLOCK_SIZE)
+            if len(chunk) == 0:
+                break
+            self.__buffer = self.__buffer[self.__ptr:] + chunk
+            self.__ptr = 0
+            while self.__bytesLeft() >= self.MSG_HEADER_LEN:
+                head1 = ord(self.__buffer[self.__ptr])
+                head2 = ord(self.__buffer[self.__ptr+1])
+                if (head1 != self.MSG_HEAD1 or head2 != self.MSG_HEAD2):
+                    if self.__correct_errors:
+                        self.__ptr += 1
+                        continue
+                    else:
+                        raise Exception("Invalid header at %i (0x%X): %02X %02X, must be %02X %02X" % (bytes_read + self.__ptr, bytes_read + self.__ptr, head1, head2, self.MSG_HEAD1, self.MSG_HEAD2))
+                msg_type = ord(self.__buffer[self.__ptr+2])
+                if msg_type == self.MSG_TYPE_FORMAT:
+                    # parse FORMAT message
+                    if self.__bytesLeft() < self.MSG_FORMAT_PACKET_LEN:
+                        break
+                    self.__parseMsgDescr()
+                else:
+                    # parse data message
+                    msg_descr = self.__msg_descrs[msg_type]
+                    if msg_descr == None:
+                        raise Exception("Unknown msg type: %i" % msg_type)
+                    msg_length = msg_descr[0]
+                    if self.__bytesLeft() < msg_length:
+                        break
+                    if first_data_msg:
+                        # build CSV columns and init data map
+                        self.__initCSV()
+                        first_data_msg = False
+                    self.__parseMsg(msg_descr)
+            bytes_read += self.__ptr
+        if not self.__debug_out and self.__time_msg != None and self.__csv_updated:
+            self.__printCSVRow()
+        f.close()
+    
+    def __bytesLeft(self):
+        return len(self.__buffer) - self.__ptr
+    
+    def __filterMsg(self, msg_name):
+        show_fields = "*"
+        if len(self.__msg_filter_map) > 0:
+            show_fields = self.__msg_filter_map.get(msg_name)
+        return show_fields
+    
+    def __initCSV(self):
+        if len(self.__msg_filter) == 0:
+            for msg_name in self.__msg_names:
+                self.__msg_filter.append((msg_name, "*"))
+        for msg_name, show_fields in self.__msg_filter:
+            if show_fields == "*":
+                show_fields = self.__msg_labels.get(msg_name, [])
+            self.__msg_filter_map[msg_name] = show_fields
+            for field in show_fields:
+                full_label = msg_name + "." + field
+                self.__csv_columns.append(full_label)
+                self.__csv_data[full_label] = None
+        print self.__csv_delim.join(self.__csv_columns)
+
+    def __printCSVRow(self):
+        s = []
+        for full_label in self.__csv_columns:
+            v = self.__csv_data[full_label]
+            if v == None:
+                v = self.__csv_null
+            else:
+                v = str(v)
+            s.append(v)
+        print self.__csv_delim.join(s)
+
+    def __parseMsgDescr(self):
+        data = struct.unpack(self.MSG_FORMAT_STRUCT, self.__buffer[self.__ptr + 3 : self.__ptr + self.MSG_FORMAT_PACKET_LEN])
+        msg_type = data[0]
+        if msg_type != self.MSG_TYPE_FORMAT:
+            msg_length = data[1]
+            msg_name = data[2].strip("\0")
+            msg_format = data[3].strip("\0")
+            msg_labels = data[4].strip("\0").split(",")
+            # Convert msg_format to struct.unpack format string
+            msg_struct = ""
+            msg_mults = []
+            for c in msg_format:
+                try:
+                    f = self.FORMAT_TO_STRUCT[c]
+                    msg_struct += f[0]
+                    msg_mults.append(f[1])
+                except KeyError as e:
+                    raise Exception("Unsupported format char: %s in message %s (%i)" % (c, msg_name, msg_type))
+            msg_struct = "<" + msg_struct   # force little-endian
+            self.__msg_descrs[msg_type] = (msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults)
+            self.__msg_labels[msg_name] = msg_labels
+            self.__msg_names.append(msg_name)
+            if self.__debug_out:
+                if self.__filterMsg(msg_name) != None:
+                    print "MSG FORMAT: type = %i, length = %i, name = %s, format = %s, labels = %s, struct = %s, mults = %s" % (
+                                msg_type, msg_length, msg_name, msg_format, str(msg_labels), msg_struct, msg_mults)
+        self.__ptr += self.MSG_FORMAT_PACKET_LEN
+    
+    def __parseMsg(self, msg_descr):
+        msg_length, msg_name, msg_format, msg_labels, msg_struct, msg_mults = msg_descr
+        if not self.__debug_out and self.__time_msg != None and msg_name == self.__time_msg and self.__csv_updated:
+            self.__printCSVRow()
+            self.__csv_updated = False
+        show_fields = self.__filterMsg(msg_name)
+        if (show_fields != None):
+            data = list(struct.unpack(msg_struct, self.__buffer[self.__ptr+self.MSG_HEADER_LEN:self.__ptr+msg_length]))
+            for i in xrange(len(data)):
+                if type(data[i]) is str:
+                    data[i] = data[i].strip("\0")
+                m = msg_mults[i]
+                if m != None:
+                    data[i] = data[i] * m
+            if self.__debug_out:
+                s = []
+                for i in xrange(len(data)):
+                    label = msg_labels[i]
+                    if show_fields == "*" or label in show_fields:
+                        s.append(label + "=" + str(data[i]))
+                print "MSG %s: %s" % (msg_name, ", ".join(s))
+            else:
+                # update CSV data buffer
+                for i in xrange(len(data)):
+                    label = msg_labels[i]
+                    if label in show_fields:
+                        self.__csv_data[msg_name + "." + label] = data[i]
+                        if self.__time_msg != None and msg_name != self.__time_msg:
+                            self.__csv_updated = True
+                if self.__time_msg == None:
+                    self.__printCSVRow()
+        self.__ptr += msg_length
+
+def _main():
+    if len(sys.argv) < 2:
+        print "Usage: python sdlog2_dump.py <log.bin> [-v] [-e] [-d delimiter] [-n null] [-m MSG[.field1,field2,...]] [-t TIME_MSG_NAME]\n"
+        print "\t-v\tUse plain debug output instead of CSV.\n"
+        print "\t-e\tRecover from errors.\n"
+        print "\t-d\tUse \"delimiter\" in CSV. Default is \",\".\n"
+        print "\t-n\tUse \"null\" as placeholder for empty values in CSV. Default is empty.\n"
+        print "\t-m MSG[.field1,field2,...]\n\t\tDump only messages of specified type, and only specified fields.\n\t\tMultiple -m options allowed."
+        print "\t-t\tSpecify TIME message name to group data messages by time and significantly reduce duplicate output.\n"
+        return
+    fn = sys.argv[1]
+    debug_out = False
+    correct_errors = False
+    msg_filter = []
+    csv_null = ""
+    csv_delim = ","
+    time_msg = None
+    opt = None
+    for arg in sys.argv[2:]:
+        if opt != None:
+            if opt == "d":
+                csv_delim = arg
+            elif opt == "n":
+                csv_null = arg
+            elif opt == "t":
+                time_msg = arg
+            elif opt == "m":
+                show_fields = "*"
+                a = arg.split(".")
+                if len(a) > 1:
+                    show_fields = a[1].split(",")
+                msg_filter.append((a[0], show_fields))
+            opt = None
+        else:
+            if arg == "-v":
+                debug_out = True
+            elif arg == "-e":
+                correct_errors = True
+            elif arg == "-d":
+                opt = "d"
+            elif arg == "-n":
+                opt = "n"
+            elif arg == "-m":
+                opt = "m"
+            elif arg == "-t":
+                opt = "t"
+
+    if csv_delim == "\\t":
+        csv_delim = "\t"
+    parser = SDLog2Parser()
+    parser.setCSVDelimiter(csv_delim)
+    parser.setCSVNull(csv_null)
+    parser.setMsgFilter(msg_filter)
+    parser.setTimeMsg(time_msg)
+    parser.setDebugOut(debug_out)
+    parser.setCorrectErrors(correct_errors)
+    parser.process(fn)
+
+if __name__ == "__main__":
+    _main()

makefiles/config_px4fmu-v1_default.mk

@@ -62,7 +62,8 @@ MODULES		+= modules/gpio_led
 # Estimation modules (EKF / other filters)
 #
 MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/position_estimator_mc
+MODULES		+= modules/attitude_estimator_so3_comp
+#MODULES		+= modules/position_estimator_mc
 MODULES		+= modules/position_estimator
 MODULES		+= modules/att_pos_estimator_ekf
 
@@ -79,6 +80,7 @@ MODULES		+= modules/multirotor_pos_control
 # Logging
 #
 MODULES		+= modules/sdlog
+MODULES		+= modules/sdlog2
 
 #
 # Library modules

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,27 +32,32 @@
  ****************************************************************************/
 
 /**
- * @file px4_deamon_app.c
+ * @file px4_daemon_app.c
- * Deamon application example for PX4 autopilot
+ * daemon application example for PX4 autopilot
+ * 
+ * @author Example User <mail@example.com>
  */
 
 #include <nuttx/config.h>
+#include <nuttx/sched.h>
 #include <unistd.h>
 #include <stdio.h>
 
-static bool thread_should_exit = false;		/**< Deamon exit flag */
+#include <systemlib/err.h>
-static bool thread_running = false;		/**< Deamon status flag */
+
-static int deamon_task;				/**< Handle of deamon task / thread */
+static bool thread_should_exit = false;		/**< daemon exit flag */
+static bool thread_running = false;		/**< daemon status flag */
+static int daemon_task;				/**< Handle of daemon task / thread */
 
 /**
- * Deamon management function.
+ * daemon management function.
  */
-__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
+__EXPORT int px4_daemon_app_main(int argc, char *argv[]);
 
 /**
- * Mainloop of deamon.
+ * Mainloop of daemon.
  */
-int px4_deamon_thread_main(int argc, char *argv[]);
+int px4_daemon_thread_main(int argc, char *argv[]);
 
 /**
  * Print the correct usage.
@@ -64,20 +68,19 @@ static void
 usage(const char *reason)
 {
 	if (reason)
-		fprintf(stderr, "%s\n", reason);
+		warnx("%s\n", reason);
-	fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
+	errx(1, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
-	exit(1);
 }
 
 /**
- * The deamon app only briefly exists to start
+ * The daemon app only briefly exists to start
  * the background job. The stack size assigned in the
  * Makefile does only apply to this management task.
  * 
  * The actual stack size should be set in the call
  * to task_create().
  */
-int px4_deamon_app_main(int argc, char *argv[])
+int px4_daemon_app_main(int argc, char *argv[])
 {
 	if (argc < 1)
 		usage("missing command");
@@ -85,17 +88,17 @@ int px4_deamon_app_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			printf("deamon already running\n");
+			warnx("daemon already running\n");
 			/* this is not an error */
 			exit(0);
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("deamon",
+		daemon_task = task_spawn_cmd("daemon",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
 					 4096,
-					 px4_deamon_thread_main,
+					 px4_daemon_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
@@ -107,9 +110,9 @@ int px4_deamon_app_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 		if (thread_running) {
-			printf("\tdeamon app is running\n");
+			warnx("\trunning\n");
 		} else {
-			printf("\tdeamon app not started\n");
+			warnx("\tnot started\n");
 		}
 		exit(0);
 	}
@@ -118,18 +121,18 @@ int px4_deamon_app_main(int argc, char *argv[])
 	exit(1);
 }
 
-int px4_deamon_thread_main(int argc, char *argv[]) {
+int px4_daemon_thread_main(int argc, char *argv[]) {
 
-	printf("[deamon] starting\n");
+	warnx("[daemon] starting\n");
 
 	thread_running = true;
 
 	while (!thread_should_exit) {
-		printf("Hello Deamon!\n");
+		warnx("Hello daemon!\n");
 		sleep(10);
 	}
 
-	printf("[deamon] exiting.\n");
+	warnx("[daemon] exiting.\n");
 
 	thread_running = false;
 

src/modules/attitude_estimator_so3_comp/README

@@ -0,0 +1,5 @@
+Synopsis
+
+ nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
+
+Option -d is for debugging packet. See code for detailed packet structure.

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.c

@@ -0,0 +1,63 @@
+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_params.c
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include "attitude_estimator_so3_comp_params.h"
+
+/* This is filter gain for nonlinear SO3 complementary filter */
+/* NOTE : How to tune the gain? First of all, stick with this default gain. And let the quad in stable place.
+   Log the steady state reponse of filter. If it is too slow, increase SO3_COMP_KP.
+   If you are flying from ground to high altitude in short amount of time, please increase SO3_COMP_KI which
+   will compensate gyro bias which depends on temperature and vibration of your vehicle */
+PARAM_DEFINE_FLOAT(SO3_COMP_KP, 1.0f); //! This parameter will give you about 15 seconds convergence time.
+                                       //! You can set this gain higher if you want more fast response.
+                                       //! But note that higher gain will give you also higher overshoot.
+PARAM_DEFINE_FLOAT(SO3_COMP_KI, 0.05f); //! This gain will incorporate slow time-varying bias (e.g., temperature change)
+					//! This gain is depend on your vehicle status.
+
+/* offsets in roll, pitch and yaw of sensor plane and body */
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
+
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h)
+{
+	/* Filter gain parameters */
+	h->Kp = 	param_find("SO3_COMP_KP");
+	h->Ki = 	param_find("SO3_COMP_KI");
+
+	/* Attitude offset (WARNING: Do not change if you do not know what exactly this variable wil lchange) */
+	h->roll_off  =	param_find("ATT_ROLL_OFFS");
+	h->pitch_off =	param_find("ATT_PITCH_OFFS");
+	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p)
+{
+	/* Update filter gain */
+	param_get(h->Kp, &(p->Kp));
+	param_get(h->Ki, &(p->Ki));
+
+	/* Update attitude offset */
+	param_get(h->roll_off, &(p->roll_off));
+	param_get(h->pitch_off, &(p->pitch_off));
+	param_get(h->yaw_off, &(p->yaw_off));
+
+	return OK;
+}

src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_params.h

@@ -0,0 +1,44 @@
+/*
+ * Author: Hyon Lim <limhyon@gmail.com, hyonlim@snu.ac.kr>
+ *
+ * @file attitude_estimator_so3_comp_params.h
+ *
+ * Implementation of nonlinear complementary filters on the SO(3).
+ * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
+ * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
+ * 
+ * Theory of nonlinear complementary filters on the SO(3) is based on [1].
+ * Quaternion realization of [1] is based on [2].
+ * Optmized quaternion update code is based on Sebastian Madgwick's implementation.
+ * 
+ * References
+ *  [1] Mahony, R.; Hamel, T.; Pflimlin, Jean-Michel, "Nonlinear Complementary Filters on the Special Orthogonal Group," Automatic Control, IEEE Transactions on , vol.53, no.5, pp.1203,1218, June 2008
+ *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_so3_comp_params {
+	float Kp;
+	float Ki;
+	float roll_off;
+	float pitch_off;
+	float yaw_off;
+};
+
+struct attitude_estimator_so3_comp_param_handles {
+	param_t Kp, Ki;
+	param_t roll_off, pitch_off, yaw_off;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_so3_comp_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_so3_comp_param_handles *h, struct attitude_estimator_so3_comp_params *p);

src/modules/attitude_estimator_so3_comp/module.mk

@@ -0,0 +1,8 @@
+#
+# Attitude estimator (Nonlinear SO3 complementary Filter)
+#
+
+MODULE_COMMAND	 = attitude_estimator_so3_comp
+
+SRCS		 = attitude_estimator_so3_comp_main.cpp \
+		   attitude_estimator_so3_comp_params.c

src/modules/sdlog2/logbuffer.c

@@ -0,0 +1,133 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file logbuffer.c
+ *
+ * Ring FIFO buffer for binary log data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "logbuffer.h"
+
+void logbuffer_init(struct logbuffer_s *lb, int size)
+{
+	lb->size  = size;
+	lb->write_ptr = 0;
+	lb->read_ptr = 0;
+	lb->data = malloc(lb->size);
+}
+
+int logbuffer_count(struct logbuffer_s *lb)
+{
+	int n = lb->write_ptr - lb->read_ptr;
+
+	if (n < 0) {
+		n += lb->size;
+	}
+
+	return n;
+}
+
+int logbuffer_is_empty(struct logbuffer_s *lb)
+{
+	return lb->read_ptr == lb->write_ptr;
+}
+
+bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
+{
+	// bytes available to write
+	int available = lb->read_ptr - lb->write_ptr - 1;
+
+	if (available < 0)
+		available += lb->size;
+
+	if (size > available) {
+		// buffer overflow
+		return false;
+	}
+
+	char *c = (char *) ptr;
+	int n = lb->size - lb->write_ptr;	// bytes to end of the buffer
+
+	if (n < size) {
+		// message goes over end of the buffer
+		memcpy(&(lb->data[lb->write_ptr]), c, n);
+		lb->write_ptr = 0;
+
+	} else {
+		n = 0;
+	}
+
+	// now: n = bytes already written
+	int p = size - n;	// number of bytes to write
+	memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
+	lb->write_ptr = (lb->write_ptr + p) % lb->size;
+	return true;
+}
+
+int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
+{
+	// bytes available to read
+	int available = lb->write_ptr - lb->read_ptr;
+
+	if (available == 0) {
+		return 0;	// buffer is empty
+	}
+
+	int n = 0;
+
+	if (available > 0) {
+		// read pointer is before write pointer, all available bytes can be read
+		n = available;
+		*is_part = false;
+
+	} else {
+		// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
+		n = lb->size - lb->read_ptr;
+		*is_part = true;
+	}
+
+	*ptr = &(lb->data[lb->read_ptr]);
+	return n;
+}
+
+void logbuffer_mark_read(struct logbuffer_s *lb, int n)
+{
+	lb->read_ptr = (lb->read_ptr + n) % lb->size;
+}

src/modules/sdlog2/logbuffer.h

@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file logbuffer.h
+ *
+ * Ring FIFO buffer for binary log data.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_RINGBUFFER_H_
+#define SDLOG2_RINGBUFFER_H_
+
+#include <stdbool.h>
+
+struct logbuffer_s {
+	// all pointers are in bytes
+	int write_ptr;
+	int read_ptr;
+	int size;
+	char *data;
+};
+
+void logbuffer_init(struct logbuffer_s *lb, int size);
+
+int logbuffer_count(struct logbuffer_s *lb);
+
+int logbuffer_is_empty(struct logbuffer_s *lb);
+
+bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size);
+
+int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part);
+
+void logbuffer_mark_read(struct logbuffer_s *lb, int n);
+
+#endif

src/modules/sdlog2/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2013 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.
+#
+############################################################################
+
+#
+# sdlog2 Application
+#
+
+MODULE_COMMAND  = sdlog2
+# The main thread only buffers to RAM, needs a high priority
+MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
+
+SRCS = sdlog2.c \
+       logbuffer.c

src/modules/sdlog2/sdlog2_format.h

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog2_format.h
+ *
+ * General log format structures and macro.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+/*
+Format characters in the format string for binary log messages
+  b   : int8_t
+  B   : uint8_t
+  h   : int16_t
+  H   : uint16_t
+  i   : int32_t
+  I   : uint32_t
+  f   : float
+  n   : char[4]
+  N   : char[16]
+  Z   : char[64]
+  c   : int16_t * 100
+  C   : uint16_t * 100
+  e   : int32_t * 100
+  E   : uint32_t * 100
+  L   : int32_t latitude/longitude
+  M   : uint8_t flight mode
+
+  q   : int64_t
+  Q   : uint64_t
+ */
+
+#ifndef SDLOG2_FORMAT_H_
+#define SDLOG2_FORMAT_H_
+
+#define LOG_PACKET_HEADER_LEN	   3
+#define LOG_PACKET_HEADER	       uint8_t head1, head2, msg_type;
+#define LOG_PACKET_HEADER_INIT(id) .head1 = HEAD_BYTE1, .head2 = HEAD_BYTE2, .msg_type = id
+
+// once the logging code is all converted we will remove these from
+// this header
+#define HEAD_BYTE1  0xA3    // Decimal 163
+#define HEAD_BYTE2  0x95    // Decimal 149
+
+struct log_format_s {
+	uint8_t type;
+	uint8_t length;		// full packet length including header
+	char name[4];
+	char format[16];
+	char labels[64];
+};
+
+#define LOG_FORMAT(_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+		.length = sizeof(struct log_##_name##_s) + LOG_PACKET_HEADER_LEN, \
+		.name = #_name, \
+		.format = _format, \
+		.labels = _labels \
+	}
+
+#define LOG_FORMAT_MSG	  0x80
+
+#define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
+
+#endif /* SDLOG2_FORMAT_H_ */

src/modules/sdlog2/sdlog2_messages.h

@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Author: Anton Babushkin <rk3dov@gmail.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog2_messages.h
+ *
+ * Log messages and structures definition.
+ *
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ */
+
+#ifndef SDLOG2_MESSAGES_H_
+#define SDLOG2_MESSAGES_H_
+
+#include "sdlog2_format.h"
+
+/* define message formats */
+
+#pragma pack(push, 1)
+/* --- TIME - TIME STAMP --- */
+#define LOG_TIME_MSG 1
+struct log_TIME_s {
+	uint64_t t;
+};
+
+/* --- ATT - ATTITUDE --- */
+#define LOG_ATT_MSG 2
+struct log_ATT_s {
+	float roll;
+	float pitch;
+	float yaw;
+};
+
+/* --- ATSP - ATTITUDE SET POINT --- */
+#define LOG_ATSP_MSG 3
+struct log_ATSP_s {
+	float roll_sp;
+	float pitch_sp;
+	float yaw_sp;
+};
+
+/* --- IMU - IMU SENSORS --- */
+#define LOG_IMU_MSG 4
+struct log_IMU_s {
+	float acc_x;
+	float acc_y;
+	float acc_z;
+	float gyro_x;
+	float gyro_y;
+	float gyro_z;
+	float mag_x;
+	float mag_y;
+	float mag_z;
+};
+
+/* --- SENS - OTHER SENSORS --- */
+#define LOG_SENS_MSG 5
+struct log_SENS_s {
+	float baro_pres;
+	float baro_alt;
+	float baro_temp;
+	float diff_pres;
+};
+
+/* --- LPOS - LOCAL POSITION --- */
+#define LOG_LPOS_MSG 6
+struct log_LPOS_s {
+	float x;
+	float y;
+	float z;
+	float vx;
+	float vy;
+	float vz;
+	float hdg;
+	int32_t home_lat;
+	int32_t home_lon;
+	float home_alt;
+};
+
+/* --- LPSP - LOCAL POSITION SETPOINT --- */
+#define LOG_LPSP_MSG 7
+struct log_LPSP_s {
+	float x;
+	float y;
+	float z;
+	float yaw;
+};
+
+/* --- GPS - GPS POSITION --- */
+#define LOG_GPS_MSG 8
+struct log_GPS_s {
+	uint64_t gps_time;
+	uint8_t fix_type;
+	float eph;
+	float epv;
+	int32_t lat;
+	int32_t lon;
+	float alt;
+	float vel_n;
+	float vel_e;
+	float vel_d;
+	float cog;
+};
+#pragma pack(pop)
+
+/* construct list of all message formats */
+
+static const struct log_format_s log_formats[] = {
+	LOG_FORMAT(TIME, "Q", "StartTime"),
+	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
+	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
+	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
+	LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
+	LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
+	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
+};
+
+static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
+
+#endif /* SDLOG2_MESSAGES_H_ */