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author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 14:44:45 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-17 14:44:45 +0400 |
commit | 22a925adeb2cae7496c31da35cd5f93d2993c01f (patch) | |
tree | 62584c904a420e0a4a448db757f41126341c6bd4 /src/modules/sdlog2/sdlog2.c | |
parent | 138ce117ab0a9b95f473f34ce8644fa6456b32a6 (diff) | |
parent | badaa5e4a23561834ff4badbe3a62fbf3d3e02aa (diff) | |
download | px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.tar.gz px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.tar.bz2 px4-firmware-22a925adeb2cae7496c31da35cd5f93d2993c01f.zip |
Merge branch 'master' into sdlog2
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 19 |
1 files changed, 18 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f67cfad87..178986f61 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -241,7 +241,7 @@ int sdlog2_main(int argc, char *argv[]) deamon_task = task_spawn("sdlog2", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 30, - 2048, + 3000, sdlog2_thread_main, (const char **)argv); exit(0); @@ -661,6 +661,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int rc_sub; + int airspeed_sub; } subs; /* log message buffer: header + body */ @@ -680,6 +681,7 @@ 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_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; } body; } log_msg = { @@ -784,6 +786,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -1070,6 +1078,15 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(RC); } + /* --- AIRSPEED --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { #ifdef SDLOG2_DEBUG |