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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-28 20:40:05 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-28 20:40:05 +0100 |
| commit | 6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4 (patch) | |
| tree | 0a011a39651787dd6df2ad105bf619f09e2e3ac6 /src/modules/sdlog2 | |
| parent | 48f1b7e1c77a66973c6bb847290018531a99503c (diff) | |
| download | px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.tar.gz px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.tar.bz2 px4-firmware-6a1a29f77ecc9ded341bfbca037c9a6768ed3fb4.zip | |
global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 2 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 4 |
2 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c3ea30cbf..3c218e21f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1244,6 +1244,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; + log_msg.body.log_GPOS.baro_alt = buf.global_pos.baro_alt; + log_msg.body.log_GPOS.flags = (buf.global_pos.baro_valid ? 1 : 0) | (buf.global_pos.global_valid ? 2 : 0); LOGBUFFER_WRITE_AND_COUNT(GPOS); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index baac2ee3e..db87e3a6a 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -204,6 +204,8 @@ struct log_GPOS_s { float vel_n; float vel_e; float vel_d; + float baro_alt; + uint8_t flags; }; /* --- GPSP - GLOBAL POSITION SETPOINT --- */ @@ -303,7 +305,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), + LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), |