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| author | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 16:39:02 +0100 |
|---|---|---|
| committer | dominiho <dominik.honegger@inf.ethz.ch> | 2014-10-30 16:39:02 +0100 |
| commit | 9f64953bb9f7a51042922f30ad15a367d82fb4d5 (patch) | |
| tree | 3c82c31c18f23703127f5e89ac7fc0b2937c8805 /src/modules/sdlog2 | |
| parent | aba77d062f414f4a1760bc9b4f267f099206b8df (diff) | |
| download | px4-firmware-9f64953bb9f7a51042922f30ad15a367d82fb4d5.tar.gz px4-firmware-9f64953bb9f7a51042922f30ad15a367d82fb4d5.tar.bz2 px4-firmware-9f64953bb9f7a51042922f30ad15a367d82fb4d5.zip | |
replaced optical_flow mavlink message with optical_flow_rad, added gyro_temperature, adapted sd2log for px4flow integral frame
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 13 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 18 |
2 files changed, 20 insertions, 11 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9bde37432..54c7b0c83 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1507,11 +1507,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- FLOW --- */ if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { 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_y; - 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.ground_distance_m = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.gyro_temperature = buf.flow.gyro_temperature; + log_msg.body.log_FLOW.gyro_x_rate_integral = buf.flow.gyro_x_rate_integral; + log_msg.body.log_FLOW.gyro_y_rate_integral = buf.flow.gyro_y_rate_integral; + log_msg.body.log_FLOW.gyro_z_rate_integral = buf.flow.gyro_z_rate_integral; + log_msg.body.log_FLOW.integration_timespan = buf.flow.integration_timespan; + log_msg.body.log_FLOW.pixel_flow_x_integral = buf.flow.pixel_flow_x_integral; + log_msg.body.log_FLOW.pixel_flow_y_integral = buf.flow.pixel_flow_y_integral; 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); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d49fc0c79..5264ff1c8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -200,13 +200,19 @@ struct log_ARSP_s { /* --- FLOW - OPTICAL FLOW --- */ #define LOG_FLOW_MSG 15 struct log_FLOW_s { - int16_t flow_raw_x; - int16_t flow_raw_y; - float flow_comp_x; - float flow_comp_y; - float distance; - uint8_t quality; + uint64_t timestamp; uint8_t sensor_id; + float pixel_flow_x_integral; + float pixel_flow_y_integral; + float gyro_x_rate_integral; + float gyro_y_rate_integral; + float gyro_z_rate_integral; + float ground_distance_m; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t frame_count_since_last_readout; + int16_t gyro_temperature; + uint8_t quality; }; /* --- GPOS - GLOBAL POSITION ESTIMATE --- */ |