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author | Julian Oes <julian@oes.ch> | 2013-06-27 09:23:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-27 09:23:11 +0200 |
commit | f052442c2b9dac56ead301e9208a392d7f2fe43d (patch) | |
tree | 0112e0227436998d3aa7c95909ae12ba80c2427b | |
parent | 0ecc9c4bf4f2bf9fe1d99b5cbdf398718d2dccdd (diff) | |
parent | 8191130bbc8f2cbd53e69a7bcd1a4d4b1b2d68bb (diff) | |
download | px4-firmware-f052442c2b9dac56ead301e9208a392d7f2fe43d.tar.gz px4-firmware-f052442c2b9dac56ead301e9208a392d7f2fe43d.tar.bz2 px4-firmware-f052442c2b9dac56ead301e9208a392d7f2fe43d.zip |
Merge remote-tracking branch 'upstream/master' into new_state_machine
Conflicts:
src/modules/sdlog2/sdlog2.c
src/modules/sdlog2/sdlog2_messages.h
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 10 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 13 | ||||
-rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 4 |
3 files changed, 17 insertions, 10 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 33b3c657b..bdb98a24e 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -695,6 +695,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; + struct log_FLOW_s log_FLOW; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1131,10 +1132,13 @@ int sdlog2_thread_main(int argc, char *argv[]) if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.flow_comp_x_m = buf.flow.flow_comp_x_m; - log_msg.body.log_FLOW.flow_comp_y_m = buf.flow.flow_comp_y_m; - log_msg.body.log_FLOW.ground_distance_m = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; LOGBUFFER_WRITE_AND_COUNT(FLOW); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 755d21d55..96c44e7c2 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -207,13 +207,16 @@ struct log_ARSP_s { float yaw_rate_sp; }; -/* --- FLOW - FLOW DATA --- */ +/* --- FLOW - OPTICAL FLOW --- */ #define LOG_FLOW_MSG 16 struct log_FLOW_s { - float flow_comp_x_m; - float flow_comp_y_m; - float ground_distance_m; + int16_t flow_raw_x; + int16_t flow_raw_y; + float flow_comp_x; + float flow_comp_y; + float distance; uint8_t quality; + uint8_t sensor_id; }; #pragma pack(pop) @@ -235,7 +238,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "fffB", "FlowX,FlowY,SonAlt,FQual") + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index c854f0079..98f0e3fa2 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,8 +57,8 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ - uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - uint16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ + int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ float ground_distance_m; /**< Altitude / distance to ground in meters */ |