Merged sdlog_buffering branch

4 files changed, 153 insertions, 7 deletions

diff --git a/apps/uORB/objects_common.cpp b/apps/uORB/objects_common.cpp
index 2d249a47f..82893b3e9 100644
--- a/apps/uORB/objects_common.cpp
+++ b/apps/uORB/objects_common.cpp
@@ -113,6 +113,12 @@ ORB_DEFINE(offboard_control_setpoint, struct offboard_control_setpoint_s);
 #include "topics/optical_flow.h"
 ORB_DEFINE(optical_flow, struct optical_flow_s);
 
+#include "topics/omnidirectional_flow.h"
+ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s);
+
+#include "topics/differential_pressure.h"
+ORB_DEFINE(differential_pressure, struct differential_pressure_s);
+
 #include "topics/subsystem_info.h"
 ORB_DEFINE(subsystem_info, struct subsystem_info_s);
 
diff --git a/apps/uORB/topics/differential_pressure.h b/apps/uORB/topics/differential_pressure.h
new file mode 100644
index 000000000..fd7670cbc
--- /dev/null
+++ b/apps/uORB/topics/differential_pressure.h
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file differential_pressure.h
+ *
+ * Definition of differential pressure topic
+ */
+
+#ifndef TOPIC_DIFFERENTIAL_PRESSURE_H_
+#define TOPIC_DIFFERENTIAL_PRESSURE_H_
+
+#include "../uORB.h"
+#include <stdint.h>
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Battery voltages and status
+ */
+struct differential_pressure_s {
+	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	float   	static_pressure_mbar;		/**< Static / environment pressure */
+	float		differential_pressure_mbar;	/**< Differential pressure reading */
+	float		temperature_celcius;		/**< ambient temperature in celcius, -1 if unknown */
+	float		indicated_airspeed_m_s;		/**< indicated airspeed in meters per second, -1 if unknown	 */
+	float		true_airspeed_m_s;		/**< true airspeed in meters per second, -1 if unknown */
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(differential_pressure);
+
+#endif
\ No newline at end of file
diff --git a/apps/uORB/topics/omnidirectional_flow.h b/apps/uORB/topics/omnidirectional_flow.h
new file mode 100644
index 000000000..8f4be3b3f
--- /dev/null
+++ b/apps/uORB/topics/omnidirectional_flow.h
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file optical_flow.h
+ * Definition of the optical flow uORB topic.
+ */
+
+#ifndef TOPIC_OMNIDIRECTIONAL_FLOW_H_
+#define TOPIC_OMNIDIRECTIONAL_FLOW_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Omnidirectional optical flow in NED body frame in SI units.
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct omnidirectional_flow_s {
+
+	uint64_t timestamp;		/**< in microseconds since system start          */
+
+	uint16_t left[10];		/**< Left flow, in decipixels */
+	uint16_t right[10];		/**< Right flow, in decipixels */
+	float front_distance_m;		/**< Altitude / distance to object front in meters */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(omnidirectional_flow);
+
+#endif
diff --git a/apps/uORB/topics/optical_flow.h b/apps/uORB/topics/optical_flow.h
index 24f842825..c854f0079 100644
--- a/apps/uORB/topics/optical_flow.h
+++ b/apps/uORB/topics/optical_flow.h
@@ -55,11 +55,6 @@
  */
 struct optical_flow_s {
 
-	/*
-	 * Actual data, this is specific to the type of data which is stored in this struct
-	 * A line containing L0GME will be added by the Python logging code generator to the
-	 * logged dataset.
-	 */
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
 	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
@@ -67,8 +62,8 @@ struct optical_flow_s {
 	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 */
-	uint8_t	quality;			/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
-	uint8_t sensor_id;			/**< id of the sensor emitting the flow value */
+	uint8_t	quality;		/**< Quality of the measurement, 0: bad quality, 255: maximum quality */
+	uint8_t sensor_id;		/**< id of the sensor emitting the flow value */
 
 };