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sdlog2: GPS message added

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Anton Babushkin
2013-05-30 12:28:05 +04:00
parent 7e95edbbe8
commit d6ae0461ab
2 changed files with 33 additions and 3 deletions
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src/modules/sdlog2/sdlog2.c
+14 -1
View File
@@ -504,6 +504,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_SENS_s log_SENS;
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_GPS_s log_GPS;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -663,7 +664,19 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
// TODO not implemented yet
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
log_msg.body.log_GPS.satellites_visible = buf.gps_pos.satellites_visible;
log_msg.body.log_GPS.lat = buf.gps_pos.lat;
log_msg.body.log_GPS.lon = buf.gps_pos.lon;
log_msg.body.log_GPS.alt = buf.gps_pos.alt;
log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
log_msg.body.log_GPS.vel_valid = (uint8_t) buf.gps_pos.vel_ned_valid;
sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(GPS));
}
/* --- SENSOR COMBINED --- */
src/modules/sdlog2/sdlog2_messages.h
+19 -2
View File
@@ -107,7 +107,7 @@ struct log_LPOS_s {
float home_alt;
};
/* --- LPOS - LOCAL POSITION SETPOINT --- */
/* --- LPSP - LOCAL POSITION SETPOINT --- */
#define LOG_LPSP_MSG 7
struct log_LPSP_s {
float x;
@@ -116,16 +116,33 @@ struct log_LPSP_s {
float yaw;
};
/* --- GPS - GPS POSITION --- */
#define LOG_GPS_MSG 8
struct log_GPS_s {
uint64_t gps_time;
uint8_t fix_type;
uint8_t satellites_visible;
int32_t lat;
int32_t lon;
float alt;
float vel_n;
float vel_e;
float vel_d;
float cog;
uint8_t vel_valid;
};
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "t"),
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, "QBBLLfffffB", "GPSTime,FixType,Sats,Lat,Lon,Alt,VelN,VelE,VelD,Cog,VelValid"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);