Merge pull request #305 from sjwilks/sdlog-airspeedalpha_0.3

Add airspeed logging to sdlog2.

2 files changed, 26 insertions, 1 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a14bd6f80..fee20cea4 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -612,7 +612,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
 	/* number of messages */
-	const ssize_t fdsc = 15;
+	const ssize_t fdsc = 16;
 	/* Sanity check variable and index */
 	ssize_t fdsc_count = 0;
 	/* file descriptors to wait for */
@@ -658,6 +658,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int vicon_pos_sub;
 		int flow_sub;
 		int rc_sub;
+		int airspeed_sub;
 	} subs;
 
 	/* log message buffer: header + body */
@@ -677,6 +678,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_STAT_s log_STAT;
 			struct log_RC_s log_RC;
 			struct log_OUT0_s log_OUT0;
+			struct log_AIRS_s log_AIRS;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -774,6 +776,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- AIRSPEED --- */
+	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
+	fds[fdsc_count].fd = subs.airspeed_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;	
+
 	/* WARNING: If you get the error message below,
 	 * then the number of registered messages (fdsc)
 	 * differs from the number of messages in the above list.
@@ -1046,6 +1054,15 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(RC);
 			}
 
+			/* --- AIRSPEED --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
+				log_msg.msg_type = LOG_AIRS_MSG;
+				log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
+				log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
+				LOGBUFFER_WRITE_AND_COUNT(AIRS);
+			}
+
 			/* signal the other thread new data, but not yet unlock */
 			if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 #ifdef SDLOG2_DEBUG
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 40763ee1e..c71f3b7e8 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -167,6 +167,13 @@ struct log_RC_s {
 struct log_OUT0_s {
 	float output[8];
 };
+
+/* --- AIRS - AIRSPEED --- */
+#define LOG_AIRS_MSG 13
+struct log_AIRS_s {
+	float indicated_airspeed;
+	float true_airspeed;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
@@ -184,6 +191,7 @@ static const struct log_format_s log_formats[] = {
 	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"),
+	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);