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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-01 10:42:56 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-01 10:42:56 +0200 |
| commit | 1f951b0df9ad475349ba4c7e815483445128cc2a (patch) | |
| tree | 6a357ad5845c4da04c5d99e66512cc2981c71346 /src/modules/sdlog2/sdlog2.c | |
| parent | 0f548ab88cb36be362d14f9e9e76c53e3764e3c9 (diff) | |
| download | px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.tar.gz px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.tar.bz2 px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.zip | |
add logging for gpos terrain alt
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index dbda8ea6f..e13593077 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; log_msg.body.log_GPOS.eph = buf.global_pos.eph; log_msg.body.log_GPOS.epv = buf.global_pos.epv; + if (buf.global_pos.terrain_alt_valid) { + log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt; + } else { + log_msg.body.log_GPOS.terrain_alt = -1.0f; + } LOGBUFFER_WRITE_AND_COUNT(GPOS); } @@ -1464,7 +1469,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; LOGBUFFER_WRITE_AND_COUNT(VICN); } - + /* --- VISION POSITION --- */ if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) { log_msg.msg_type = LOG_VISN_MSG; |