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author | Julian Oes <julian@oes.ch> | 2013-06-16 12:59:50 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-16 12:59:50 +0200 |
commit | b52d561b11298abb2982b786676f49eea96259d8 (patch) | |
tree | e9bbf4abba99871b291ca1a2f8f90f1ca750564e /src/modules/sdlog2/sdlog2.c | |
parent | 562253c508d1a758207d21e116cbbc194d7e0721 (diff) | |
download | px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.tar.gz px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.tar.bz2 px4-firmware-b52d561b11298abb2982b786676f49eea96259d8.zip |
Added ctrl debugging values
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 36 |
1 files changed, 35 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 940f30a46..844e02268 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -74,6 +74,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_control_debug.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> @@ -613,7 +614,7 @@ 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 = 16; + const ssize_t fdsc = 17; /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -639,6 +640,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_position_s global_pos; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; + struct vehicle_control_debug_s control_debug; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; @@ -661,6 +663,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_pos_sub; int gps_pos_sub; int vicon_pos_sub; + int control_debug_sub; int flow_sub; int rc_sub; } subs; @@ -680,6 +683,7 @@ 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_CTRL_s log_CTRL; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; } body; @@ -773,6 +777,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- CONTROL DEBUG --- */ + subs.control_debug_sub = orb_subscribe(ORB_ID(vehicle_control_debug)); + fds[fdsc_count].fd = subs.control_debug_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* --- OPTICAL FLOW --- */ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); fds[fdsc_count].fd = subs.flow_sub; @@ -1058,6 +1068,30 @@ int sdlog2_thread_main(int argc, char *argv[]) // TODO not implemented yet } + /* --- CONTROL DEBUG --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug); + + log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p; + log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i; + log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d; + log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p; + log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i; + log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d; + log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p; + log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i; + log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d; + log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p; + log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i; + log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d; + log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p; + log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i; + log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d; + log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p; + log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i; + log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d; + } + /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); |