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authorAnton Babushkin <anton.babushkin@me.com>2013-11-08 21:29:26 +0400
committerAnton Babushkin <anton.babushkin@me.com>2013-11-08 21:29:26 +0400
commit1a318ee2a60d95f7d64fe7ed13db8e5377b8c98c (patch)
tree22e7070aa4351f0425750a078694b397974c5a34 /src/modules/sdlog2/sdlog2.c
parent697df775f91ad279cb92d220a4a941f464f0628a (diff)
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sdlog2: log all low-level battery parameters in BATT message
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r--src/modules/sdlog2/sdlog2.c22
1 files changed, 19 insertions, 3 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index f94875d5b..a9c0ec6e1 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -704,6 +704,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct airspeed_s airspeed;
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
+ struct battery_status_s battery;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -729,6 +730,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
+ int battery_sub;
} subs;
/* log message buffer: header + body */
@@ -755,6 +757,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
+ struct log_BATT_s log_BATT;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -764,7 +767,7 @@ 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 = 20;
+ const ssize_t fdsc = 21;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
@@ -890,6 +893,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
+ /* --- BATTERY --- */
+ subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
+ fds[fdsc_count].fd = subs.battery_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.
@@ -980,8 +989,6 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
- log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
- log_msg.body.log_STAT.battery_current = buf_status.battery_current;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@@ -1252,6 +1259,15 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(GVSP);
}
+ /* --- BATTERY --- */
+ if (fds[ifds++].revents & POLLIN) {
+ log_msg.msg_type = LOG_BATT_MSG;
+ log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
+ log_msg.body.log_BATT.current = buf.battery.current_a;
+ log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
+ LOGBUFFER_WRITE_AND_COUNT(BATT);
+ }
+
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */