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| author | Julian Oes <julian@oes.ch> | 2013-12-26 21:41:54 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-12-26 21:41:54 +0100 |
| commit | 1c7e07d8d7256e62dfc49fc9f2f1d494c3da4cb4 (patch) | |
| tree | b30d4b7bffa7630550523830471fd73ebfffee6d /src/modules/sdlog2/sdlog2.c | |
| parent | 409fa12c4e095e2ec4ddfa1deb7176f0b3b52c0d (diff) | |
| download | px4-firmware-1c7e07d8d7256e62dfc49fc9f2f1d494c3da4cb4.tar.gz px4-firmware-1c7e07d8d7256e62dfc49fc9f2f1d494c3da4cb4.tar.bz2 px4-firmware-1c7e07d8d7256e62dfc49fc9f2f1d494c3da4cb4.zip | |
Topics: Move from global_position_setpoint to mission_item_triplet
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 37 |
1 files changed, 19 insertions, 18 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e94b1e13c..5dc325a05 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -72,7 +72,7 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -693,7 +693,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; - struct vehicle_global_position_setpoint_s global_pos_sp; + struct mission_item_triplet_s triplet; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; @@ -718,7 +718,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; - int global_pos_sp_sub; + int triplet_sub; int gps_pos_sub; int vicon_pos_sub; int flow_sub; @@ -840,8 +840,8 @@ int sdlog2_thread_main(int argc, char *argv[]) fdsc_count++; /* --- GLOBAL POSITION SETPOINT--- */ - subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - fds[fdsc_count].fd = subs.global_pos_sp_sub; + subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); + fds[fdsc_count].fd = subs.triplet_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -1150,20 +1150,21 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); + orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet); log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; - log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; - log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; - log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; - log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; - log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; - log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; - log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; - log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; - log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; - log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; + log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative; + log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7); + log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7); + log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude; + log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; + log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.radius = buf.triplet.current.radius; + log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside; + log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; LOGBUFFER_WRITE_AND_COUNT(GPSP); } |