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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-25 21:04:08 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-25 21:04:08 +0400 |
| commit | fdc7247fcf507faa6288c5c1f203f7d5b9221692 (patch) | |
| tree | 52cff98b9b031c527bb97d0de5ad7cc390c81387 /src/modules/sdlog2/sdlog2.c | |
| parent | 85b5da8078873a13a5fc0fd4ee3fe0a02917e87c (diff) | |
| download | px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.tar.gz px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.tar.bz2 px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.zip | |
sdlog2: FLOW message added, bug fixed in optical_flow topic
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c543fb1b4..14dfefc53 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -684,6 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; + struct log_FLOW_s log_FLOW; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1067,7 +1068,15 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - // TODO not implemented yet + log_msg.msg_type = LOG_FLOW_MSG; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; + LOGBUFFER_WRITE_AND_COUNT(FLOW); } /* --- RC CHANNELS --- */ |