Added estimator status logging to sdlog2

3 files changed, 29 insertions, 1 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index ad709d27d..3f07eea53 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -83,6 +83,7 @@
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/telemetry_status.h>
+#include <uORB/topics/estimator_status.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -794,6 +795,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct battery_status_s battery;
 		struct telemetry_status_s telemetry;
 		struct range_finder_report range_finder;
+		struct estimator_status_report estimator_status;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -825,6 +827,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_BATT_s log_BATT;
 			struct log_DIST_s log_DIST;
 			struct log_TELE_s log_TELE;
+			struct log_ESTM_s log_ESTM;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -855,6 +858,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int battery_sub;
 		int telemetry_sub;
 		int range_finder_sub;
+		int estimator_status_sub;
 	} subs;
 
 	subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -879,6 +883,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
 	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
 	subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
+	subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
 
 	thread_running = true;
 
@@ -1243,6 +1248,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(DIST);
 		}
 
+		/* --- ESTIMATOR STATUS --- */
+		if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
+			log_msg.msg_type = LOG_ESTM_MSG;
+			unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
+			memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
+			memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
+			log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
+			log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
+			log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
+			log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
+			LOGBUFFER_WRITE_AND_COUNT(DIST);
+		}
+
 		/* 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 fe500ad5f..2b41755de 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -299,6 +299,16 @@ struct log_PARM_s {
 	float value;
 };
 
+/* --- ESTM - ESTIMATOR STATUS --- */
+#define LOG_ESTM_MSG 132
+struct log_ESTM_s {
+	float s[32];
+	uint8_t n_states;
+	uint8_t states_nan;
+	uint8_t covariance_nan;
+	uint8_t kalman_gain_nan;
+};
+
 #pragma pack(pop)
 
 /* construct list of all message formats */
@@ -331,6 +341,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
 	LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
 	LOG_FORMAT(PARM, "Nf", "Name,Value"),
+	LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h
index 66ca03019..5530cdb21 100644
--- a/src/modules/uORB/topics/estimator_status.h
+++ b/src/modules/uORB/topics/estimator_status.h
@@ -67,7 +67,6 @@ struct estimator_status_report {
 	bool states_nan;			/**< If set to true, one of the states is NaN */
 	bool covariance_nan;			/**< If set to true, the covariance matrix went NaN */
 	bool kalman_gain_nan;			/**< If set to true, the Kalman gain matrix went NaN */
-	bool states_out_of_bounds;		/**< If set to true, one of the states is out of bounds */
 
 };