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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-06 13:57:27 +0100 |
|---|---|---|
| committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-01-15 14:37:51 +0100 |
| commit | 6edb54ff7755fbb30c695984cf53b246ff497141 (patch) | |
| tree | b0da62d63b6e920eec76a0c3a85fc4e213fabcc5 /src/modules/sdlog2/sdlog2.c | |
| parent | 6978ed6a61212859d1c58c769ce75f343bc2e4ca (diff) | |
| download | px4-firmware-6edb54ff7755fbb30c695984cf53b246ff497141.tar.gz px4-firmware-6edb54ff7755fbb30c695984cf53b246ff497141.tar.bz2 px4-firmware-6edb54ff7755fbb30c695984cf53b246ff497141.zip | |
sdlog2: Added land detector log message (removed from local pos)
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 12 |
1 files changed, 11 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index d35b70239..b470eefac 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -72,6 +72,7 @@ #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/vehicle_command.h> +#include <uORB/topics/vehicle_land_detected.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> @@ -981,6 +982,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; + struct vehicle_land_detected_s land_detector; struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; struct vision_position_estimate vision_pos; @@ -1016,6 +1018,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_SENS_s log_SENS; struct log_LPOS_s log_LPOS; struct log_LPSP_s log_LPSP; + struct log_LAND_s log_LAND; struct log_GPS_s log_GPS; struct log_ATTC_s log_ATTC; struct log_STAT_s log_STAT; @@ -1082,6 +1085,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int servorail_status_sub; int wind_sub; int encoders_sub; + int land_detector_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1112,6 +1116,8 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); + subs.land_detector_sub = orb_subscribe(ORB_ID(vehicle_land_detected)); + /* we need to rate-limit wind, as we do not need the full update rate */ orb_set_interval(subs.wind_sub, 90); subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); @@ -1514,13 +1520,17 @@ int sdlog2_thread_main(int argc, char *argv[]) (buf.local_pos.v_z_valid ? 8 : 0) | (buf.local_pos.xy_global ? 16 : 0) | (buf.local_pos.z_global ? 32 : 0); - log_msg.body.log_LPOS.landed = buf.local_pos.landed; log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); log_msg.body.log_LPOS.eph = buf.local_pos.eph; log_msg.body.log_LPOS.epv = buf.local_pos.epv; LOGBUFFER_WRITE_AND_COUNT(LPOS); } + /* --- LAND DETECTED --- */ + if (copy_if_updated(ORB_ID(vehicle_land_detected), subs.land_detector_sub, &buf.land_detector)) { + log_msg.body.log_LAND.landed = buf.land_detector.landed; + } + /* --- LOCAL POSITION SETPOINT --- */ if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) { log_msg.msg_type = LOG_LPSP_MSG; |