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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-07 15:34:13 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-07 15:34:13 +0100 |
| commit | 9b711d6a722fc254bb0d461b9aec66d20fbf59b1 (patch) | |
| tree | e4e1cea58709e8513da969cf356de9917dd12f18 /src/modules/sdlog2/sdlog2.c | |
| parent | 2a2c8337e8a01c59a542c8dd3dc77a087b34e3c2 (diff) | |
| parent | 94b539dfddc5a2e293f51058ee5bf0d6ffc78406 (diff) | |
| download | px4-firmware-9b711d6a722fc254bb0d461b9aec66d20fbf59b1.tar.gz px4-firmware-9b711d6a722fc254bb0d461b9aec66d20fbf59b1.tar.bz2 px4-firmware-9b711d6a722fc254bb0d461b9aec66d20fbf59b1.zip | |
Merged origin/master into batt_fixes
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 20 |
1 files changed, 3 insertions, 17 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 72cfb4d0d..06b1eddaa 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * Anton Babushkin <anton.babushkin@me.com> * @@ -68,7 +68,6 @@ #include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> -#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/vehicle_command.h> #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> @@ -691,7 +690,6 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; @@ -718,7 +716,6 @@ int sdlog2_thread_main(int argc, char *argv[]) int rates_sp_sub; int act_outputs_sub; int act_controls_sub; - int act_controls_effective_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; @@ -767,7 +764,7 @@ 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 = 21; + const ssize_t fdsc = 25; /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -827,12 +824,6 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.act_controls_effective_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); fds[fdsc_count].fd = subs.local_pos_sub; @@ -1121,12 +1112,6 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ATTC); } - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective); - // TODO not implemented yet - } - /* --- LOCAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); @@ -1215,6 +1200,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.chan_count; LOGBUFFER_WRITE_AND_COUNT(RC); } |