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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-13 23:32:52 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-13 23:32:52 +0200 |
| commit | 5c08a1aeaca2c86b66ee1ad05b0178ff214847e1 (patch) | |
| tree | b031ff57a8f85e1f33b072c8b5f908ae373ed0fc /src/modules/sdlog2/sdlog2.c | |
| parent | f84669039579aeef80e232c3c9a444d20bcbdf39 (diff) | |
| download | px4-firmware-5c08a1aeaca2c86b66ee1ad05b0178ff214847e1.tar.gz px4-firmware-5c08a1aeaca2c86b66ee1ad05b0178ff214847e1.tar.bz2 px4-firmware-5c08a1aeaca2c86b66ee1ad05b0178ff214847e1.zip | |
Untangled local pos and distance messages, now sending distance messages only for actual distance measuring devices
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 18 |
1 files changed, 3 insertions, 15 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1bf6f1de3..611491cf9 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; - /* track changes in distance status */ - bool dist_bottom_present = false; - /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ @@ -1099,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.x = buf.local_pos.x; log_msg.body.log_LPOS.y = buf.local_pos.y; log_msg.body.log_LPOS.z = buf.local_pos.z; + log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; + log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; @@ -1108,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); log_msg.body.log_LPOS.landed = buf.local_pos.landed; + log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); LOGBUFFER_WRITE_AND_COUNT(LPOS); - - if (buf.local_pos.dist_bottom_valid) { - dist_bottom_present = true; - } - - if (dist_bottom_present) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom; - log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } } /* --- LOCAL POSITION SETPOINT --- */ |