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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 12:42:32 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 12:42:32 +0200 |
commit | da105650526f724247aa8db7ee87a460efcd3cd8 (patch) | |
tree | 731890877d981eebfe1d54e3ccb4e6851aedb690 /src/modules/sdlog2/sdlog2.c | |
parent | 6ea22c8c079db8633d663cbf8ca39b81a434a040 (diff) | |
download | px4-firmware-da105650526f724247aa8db7ee87a460efcd3cd8.tar.gz px4-firmware-da105650526f724247aa8db7ee87a460efcd3cd8.tar.bz2 px4-firmware-da105650526f724247aa8db7ee87a460efcd3cd8.zip |
sdlog2: Add system power to logging
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 25 |
1 files changed, 25 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 13981ac54..7a984821f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -796,6 +796,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct telemetry_status_s telemetry; struct range_finder_report range_finder; struct estimator_status_report estimator_status; + struct system_power_s system_power; + struct servorail_status_s servorail_status; } buf; memset(&buf, 0, sizeof(buf)); @@ -828,6 +830,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; struct log_ESTM_s log_ESTM; + struct log_PWR_s log_PWR; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -859,6 +862,8 @@ int sdlog2_thread_main(int argc, char *argv[]) int telemetry_sub; int range_finder_sub; int estimator_status_sub; + int system_power_sub; + int servorail_status_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -884,6 +889,8 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); + subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); thread_running = true; @@ -1226,6 +1233,24 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(BATT); } + /* --- SYSTEM POWER RAILS --- */ + if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) { + log_msg.msg_type = LOG_PWR_MSG; + log_msg.body.log_PWR.5v_peripherals = buf.system_power.voltage_5V_v; + log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; + log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; + log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; + log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; + log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; + + /* copy servo rail status topic here too */ + orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); + log_msg.body.log_PWR.5v_servo_rail = buf.servorail_status.voltage_v; + log_msg.body.log_PWR.5v_servo_rssi = buf.servorail_status.rssi_v; + + LOGBUFFER_WRITE_AND_COUNT(PWR); + } + /* --- TELEMETRY --- */ if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) { log_msg.msg_type = LOG_TELE_MSG; |