sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message

2 files changed, 37 insertions, 2 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a14bd6f80..ca6ab5934 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -64,6 +64,7 @@
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -612,7 +613,7 @@ 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 */
@@ -627,6 +628,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct sensor_combined_s sensor;
 		struct vehicle_attitude_s att;
 		struct vehicle_attitude_setpoint_s att_sp;
+		struct vehicle_rates_setpoint_s rates_sp;
 		struct actuator_outputs_s act_outputs;
 		struct actuator_controls_s act_controls;
 		struct actuator_controls_effective_s act_controls_effective;
@@ -648,6 +650,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int sensor_sub;
 		int att_sub;
 		int att_sp_sub;
+		int rates_sp_sub;
 		int act_outputs_sub;
 		int act_controls_sub;
 		int act_controls_effective_sub;
@@ -677,6 +680,7 @@ 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_ARSP_s log_ARSP;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -720,6 +724,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
+	/* --- RATES SETPOINT --- */
+	subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
+	fds[fdsc_count].fd = subs.rates_sp_sub;
+	fds[fdsc_count].events = POLLIN;
+	fdsc_count++;
+
 	/* --- ACTUATOR OUTPUTS --- */
 	subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
 	fds[fdsc_count].fd = subs.act_outputs_sub;
@@ -953,6 +963,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_ATT.roll = buf.att.roll;
 				log_msg.body.log_ATT.pitch = buf.att.pitch;
 				log_msg.body.log_ATT.yaw = buf.att.yaw;
+				log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
+				log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
+				log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
 				LOGBUFFER_WRITE_AND_COUNT(ATT);
 			}
 
@@ -966,6 +979,16 @@ int sdlog2_thread_main(int argc, char *argv[])
 				LOGBUFFER_WRITE_AND_COUNT(ATSP);
 			}
 
+			/* --- RATES SETPOINT --- */
+			if (fds[ifds++].revents & POLLIN) {
+				orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
+				log_msg.msg_type = LOG_ARSP_MSG;
+				log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
+				log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
+				log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
+				LOGBUFFER_WRITE_AND_COUNT(ARSP);
+			}
+
 			/* --- ACTUATOR OUTPUTS --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 40763ee1e..48322e0b6 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -60,6 +60,9 @@ struct log_ATT_s {
 	float roll;
 	float pitch;
 	float yaw;
+	float roll_rate;
+	float pitch_rate;
+	float yaw_rate;
 };
 
 /* --- ATSP - ATTITUDE SET POINT --- */
@@ -167,13 +170,21 @@ struct log_RC_s {
 struct log_OUT0_s {
 	float output[8];
 };
+
+/* --- ARSP - ATTITUDE RATE SET POINT --- */
+#define LOG_ARSP_MSG 13
+struct log_ARSP_s {
+	float roll_rate_sp;
+	float pitch_rate_sp;
+	float yaw_rate_sp;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(TIME, "Q", "StartTime"),
-	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
+	LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
 	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
 	LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
 	LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
@@ -184,6 +195,7 @@ 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(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);