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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-19 20:01:01 +0400 |
| commit | 9b71e660ad86cb2ecec4db93795f417a9ba0fddd (patch) | |
| tree | c7bd62f4e4b260f03c6103e9d322e2b3f84d11c2 /src/modules/sdlog2 | |
| parent | 068b7526b74c9bbcc31acc28f0d578ed9c0f97b1 (diff) | |
| parent | 295f87f22cc471fccb44e3f3dee3e8fcab263de2 (diff) | |
| download | px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.gz px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.tar.bz2 px4-firmware-9b71e660ad86cb2ecec4db93795f417a9ba0fddd.zip | |
Merge branch 'beta_mavlink2' into mpc_local_pos_mavlink
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 31 |
1 files changed, 16 insertions, 15 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 24eed228b..c7073eb94 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -887,11 +887,11 @@ int sdlog2_thread_main(int argc, char *argv[]) pthread_cond_init(&logbuffer_cond, NULL); /* track changes in sensor_combined topic */ - uint16_t gyro_counter = 0; - uint16_t accelerometer_counter = 0; - uint16_t magnetometer_counter = 0; - uint16_t baro_counter = 0; - uint16_t differential_pressure_counter = 0; + hrt_abstime gyro_timestamp = 0; + hrt_abstime accelerometer_timestamp = 0; + hrt_abstime magnetometer_timestamp = 0; + hrt_abstime barometer_timestamp = 0; + hrt_abstime differential_pressure_timestamp = 0; /* track changes in distance status */ bool dist_bottom_present = false; @@ -976,28 +976,28 @@ int sdlog2_thread_main(int argc, char *argv[]) bool write_IMU = false; bool write_SENS = false; - if (buf.sensor.gyro_counter != gyro_counter) { - gyro_counter = buf.sensor.gyro_counter; + if (buf.sensor.timestamp != gyro_timestamp) { + gyro_timestamp = buf.sensor.timestamp; write_IMU = true; } - if (buf.sensor.accelerometer_counter != accelerometer_counter) { - accelerometer_counter = buf.sensor.accelerometer_counter; + if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) { + accelerometer_timestamp = buf.sensor.accelerometer_timestamp; write_IMU = true; } - if (buf.sensor.magnetometer_counter != magnetometer_counter) { - magnetometer_counter = buf.sensor.magnetometer_counter; + if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) { + magnetometer_timestamp = buf.sensor.magnetometer_timestamp; write_IMU = true; } - if (buf.sensor.baro_counter != baro_counter) { - baro_counter = buf.sensor.baro_counter; + if (buf.sensor.baro_timestamp != barometer_timestamp) { + barometer_timestamp = buf.sensor.baro_timestamp; write_SENS = true; } - if (buf.sensor.differential_pressure_counter != differential_pressure_counter) { - differential_pressure_counter = buf.sensor.differential_pressure_counter; + if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) { + differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp; write_SENS = true; } @@ -1023,6 +1023,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; LOGBUFFER_WRITE_AND_COUNT(SENS); } + } /* --- ATTITUDE --- */ |