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| author | tumbili <bapstr@ethz.ch> | 2015-01-18 17:46:25 +0100 |
|---|---|---|
| committer | tumbili <bapstr@ethz.ch> | 2015-01-18 18:00:14 +0100 |
| commit | 3a05b571690ce675f56184cd5c5168f7699f9a03 (patch) | |
| tree | 1d659cd5183d800a25e1ff635b6c620769cfd9e1 | |
| parent | beab89367f5cc2765c747fb463a27ce001206dd9 (diff) | |
| download | px4-firmware-3a05b571690ce675f56184cd5c5168f7699f9a03.tar.gz px4-firmware-3a05b571690ce675f56184cd5c5168f7699f9a03.tar.bz2 px4-firmware-3a05b571690ce675f56184cd5c5168f7699f9a03.zip | |
log total airspeed for vtol
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 12 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 6 |
2 files changed, 18 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 7b7949239..0cc193b6c 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -94,6 +94,7 @@ #include <uORB/topics/servorail_status.h> #include <uORB/topics/wind_estimate.h> #include <uORB/topics/encoders.h> +#include <uORB/topics/vtol_vehicle_status.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -1000,6 +1001,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; struct encoders_s encoders; + struct vtol_vehicle_status_s vtol_status; } buf; memset(&buf, 0, sizeof(buf)); @@ -1019,6 +1021,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GPS_s log_GPS; struct log_ATTC_s log_ATTC; struct log_STAT_s log_STAT; + struct log_VTOL_s log_VTOL; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; @@ -1053,6 +1056,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct { int cmd_sub; int status_sub; + int vtol_status_sub; int sensor_sub; int att_sub; int att_sp_sub; @@ -1086,6 +1090,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); + subs.vtol_status_sub = orb_subscribe(ORB_ID(vtol_vehicle_status)); subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); @@ -1219,6 +1224,13 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(STAT); } + /* --- VTOL VEHICLE STATUS --- */ + if(copy_if_updated(ORB_ID(vtol_vehicle_status), subs.vtol_status_sub, &buf.vtol_status)) { + log_msg.msg_type = LOG_VTOL_MSG; + log_msg.body.log_VTOL.airspeed_tot = buf.vtol_status.airspeed_tot; + LOGBUFFER_WRITE_AND_COUNT(VTOL); + } + /* --- GPS POSITION - UNIT #1 --- */ if (gps_pos_updated) { diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 99f70a948..c9221d58a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -426,6 +426,11 @@ struct log_ENCD_s { /* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */ #define LOG_AIR1_MSG 40 +/* --- VTOL - VTOL VEHICLE STATUS */ +#define LOG_VTOL_MSG 42 +struct log_VTOL_s { + float airspeed_tot; +}; /********** SYSTEM MESSAGES, ID > 0x80 **********/ @@ -468,6 +473,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), + LOG_FORMAT(VTOL, "f", "Arsp"), LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), |