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| author | Simon Wilks <sjwilks@gmail.com> | 2013-06-15 22:58:14 +0200 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-06-15 22:58:14 +0200 |
| commit | 12ac41802e663e5d9328c294df4117269764ef2a (patch) | |
| tree | dc774ca54e1edba5c7c5c058d540c2fce2022c9e /src/modules/sdlog2/sdlog2.c | |
| parent | b714c5c9d1d38132df5cf4bff9a1fd92163be550 (diff) | |
| download | px4-firmware-12ac41802e663e5d9328c294df4117269764ef2a.tar.gz px4-firmware-12ac41802e663e5d9328c294df4117269764ef2a.tar.bz2 px4-firmware-12ac41802e663e5d9328c294df4117269764ef2a.zip | |
Log airspeed.
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 17 |
1 files changed, 17 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index a14bd6f80..b79a07b97 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -658,6 +658,7 @@ 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 */ @@ -677,6 +678,7 @@ 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; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -774,6 +776,12 @@ 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. @@ -1046,6 +1054,15 @@ 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 |