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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 22:12:07 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-16 22:12:07 +0200 |
| commit | 692e8f84a93a932986004d896554a70380ea11e9 (patch) | |
| tree | b9cdef755d925813dd277200134b1d05c0550c9a /src/modules/sdlog2 | |
| parent | a72015c260dbb4e70d23c35120269cef61a439cc (diff) | |
| download | px4-firmware-692e8f84a93a932986004d896554a70380ea11e9.tar.gz px4-firmware-692e8f84a93a932986004d896554a70380ea11e9.tar.bz2 px4-firmware-692e8f84a93a932986004d896554a70380ea11e9.zip | |
commander: don't require good EPH for local_position_valid, position_estimator_inav: estimate EPH/EPV and publish it in local position topic
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 10 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 7 |
2 files changed, 12 insertions, 5 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 39f433eb5..70ce76806 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1119,10 +1119,16 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; - 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.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) | + (buf.local_pos.z_valid ? 2 : 0) | + (buf.local_pos.v_xy_valid ? 4 : 0) | + (buf.local_pos.v_z_valid ? 8 : 0) | + (buf.local_pos.xy_global ? 16 : 0) | + (buf.local_pos.z_global ? 32 : 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); + log_msg.body.log_LPOS.eph = buf.local_pos.eph; + log_msg.body.log_LPOS.epv = buf.local_pos.epv; LOGBUFFER_WRITE_AND_COUNT(LPOS); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 0c6188657..90025b9ff 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -109,10 +109,11 @@ struct log_LPOS_s { int32_t ref_lat; int32_t ref_lon; float ref_alt; - uint8_t xy_flags; - uint8_t z_flags; + uint8_t pos_flags; uint8_t landed; uint8_t ground_dist_flags; + float eph; + float epv; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -360,7 +361,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"), LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), |