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

2 files changed, 26 insertions, 1 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 9bde37432..af580f1f7 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -90,6 +90,7 @@
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/servorail_status.h>
 #include <uORB/topics/wind_estimate.h>
+#include <uORB/topics/encoders.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -954,6 +955,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct servorail_status_s servorail_status;
 		struct satellite_info_s sat_info;
 		struct wind_estimate_s wind_estimate;
+		struct encoders_s encoders;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -996,6 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GS1B_s log_GS1B;
 			struct log_TECS_s log_TECS;
 			struct log_WIND_s log_WIND;
+			struct log_ENCD_s log_ENCD;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1033,6 +1036,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int system_power_sub;
 		int servorail_status_sub;
 		int wind_sub;
+		int encoders_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -1064,7 +1068,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
 	/* we need to rate-limit wind, as we do not need the full update rate */
 	orb_set_interval(subs.wind_sub, 90);
-
+	subs.encoders_sub = orb_subscribe(ORB_ID(encoders));
 
 	/* add new topics HERE */
 
@@ -1667,6 +1671,16 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(WIND);
 		}
 
+		/* --- ENCODERS --- */
+		if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) {
+			log_msg.msg_type = LOG_ENCD_MSG;
+			log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0];
+			log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0];
+			log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1];
+			log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1];
+			LOGBUFFER_WRITE_AND_COUNT(ENCD);
+		}
+
 		/* signal the other thread new data, but not yet unlock */
 		if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
 			/* only request write if several packets can be written at once */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index d49fc0c79..fa9bdacb8 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -407,6 +407,16 @@ struct log_VISN_s {
 	float qw;
 };
 
+/* --- ENCODERS - ENCODER DATA --- */
+#define LOG_ENCD_MSG 39
+struct log_ENCD_s {
+	int64_t cnt0;
+	float vel0;
+	int64_t cnt1;
+	float vel1;
+};
+
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -471,6 +481,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
+	LOG_FORMAT(ENCD, "qfqf",	"cnt0,vel0,cnt1,vel1"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */