telemetry_statur: use 4 separate topics

3 files changed, 48 insertions, 26 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 39e5b6c41..0d36fa2c6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -979,7 +979,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GVSP_s log_GVSP;
 			struct log_BATT_s log_BATT;
 			struct log_DIST_s log_DIST;
-			struct log_TELE_s log_TELE;
+			struct log_TEL_s log_TEL;
 			struct log_EST0_s log_EST0;
 			struct log_EST1_s log_EST1;
 			struct log_PWR_s log_PWR;
@@ -1019,7 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int esc_sub;
 		int global_vel_sp_sub;
 		int battery_sub;
-		int telemetry_sub;
+		int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
 		int range_finder_sub;
 		int estimator_status_sub;
 		int tecs_status_sub;
@@ -1049,7 +1049,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
 	subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
 	subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
-	subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
+	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+	}
 	subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
 	subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
@@ -1479,16 +1481,19 @@ int sdlog2_thread_main(int argc, char *argv[])
 		}
 
 		/* --- TELEMETRY --- */
-		if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
-			log_msg.msg_type = LOG_TELE_MSG;
-			log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
-			log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
-			log_msg.body.log_TELE.noise = buf.telemetry.noise;
-			log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
-			log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
-			log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
-			log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
-			LOGBUFFER_WRITE_AND_COUNT(TELE);
+		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+			if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
+				log_msg.msg_type = LOG_TEL0_MSG + i;
+				log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
+				log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
+				log_msg.body.log_TEL.noise = buf.telemetry.noise;
+				log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
+				log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
+				log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
+				log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
+				log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
+				LOGBUFFER_WRITE_AND_COUNT(TEL);
+			}
 		}
 
 		/* --- BOTTOM DISTANCE --- */
diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h
index dc5e6c8bd..aff0e3f48 100644
--- a/src/modules/sdlog2/sdlog2_format.h
+++ b/src/modules/sdlog2/sdlog2_format.h
@@ -91,6 +91,14 @@ struct log_format_s {
 						    .labels = _labels \
 	}
 
+#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
+		.type = LOG_##_name##_MSG, \
+			.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
+				  .name = #_name, \
+					  .format = _format, \
+						    .labels = _labels \
+	}
+
 #define LOG_FORMAT_MSG	  0x80
 
 #define LOG_PACKET_SIZE(_name)	LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 8c05e87c5..08a87e179 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -276,18 +276,7 @@ struct log_DIST_s {
 	uint8_t flags;
 };
 
-/* --- TELE - TELEMETRY STATUS --- */
-#define LOG_TELE_MSG 22
-struct log_TELE_s {
-	uint8_t rssi;
-	uint8_t remote_rssi;
-	uint8_t noise;
-	uint8_t remote_noise;
-	uint16_t rxerrors;
-	uint16_t fixed;
-	uint8_t txbuf;
-};
-
+// ID 22 available
 // ID 23 available
 
 /* --- PWR - ONBOARD POWER SYSTEM --- */
@@ -385,6 +374,23 @@ struct log_EST1_s {
 	float s[16];
 };
 
+/* --- TEL0..3 - TELEMETRY STATUS --- */
+#define LOG_TEL0_MSG 34
+#define LOG_TEL1_MSG 35
+#define LOG_TEL2_MSG 36
+#define LOG_TEL3_MSG 37
+struct log_TEL_s {
+	uint8_t rssi;
+	uint8_t remote_rssi;
+	uint8_t noise;
+	uint8_t remote_noise;
+	uint16_t rxerrors;
+	uint16_t fixed;
+	uint8_t txbuf;
+	uint64_t heartbeat_time;
+};
+
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -432,7 +438,10 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
 	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
-	LOG_FORMAT(TELE, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
+	LOG_FORMAT_S(TEL0, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL1, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL2, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
+	LOG_FORMAT_S(TEL3, TEL, "BBBBHHB",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT(EST0, "ffffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
 	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),