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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-02 16:40:26 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-02 16:40:26 +0200 |
commit | e9290e7fc0f05f186f60c2af4beae35b75236e37 (patch) | |
tree | 1625c377efa434034f8924570000bb51349cf919 /src/modules/sdlog2 | |
parent | 4edb6ce76bf7f360bfefacf7e83045c92f070e40 (diff) | |
parent | 697c0a1a1d7fb1043786533da3570f28acd661dc (diff) | |
download | px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.tar.gz px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.tar.bz2 px4-firmware-e9290e7fc0f05f186f60c2af4beae35b75236e37.zip |
Merge branch 'master' of github.com:PX4/Firmware into origin_integration
Diffstat (limited to 'src/modules/sdlog2')
-rw-r--r-- | src/modules/sdlog2/logbuffer.c | 4 | ||||
-rw-r--r-- | src/modules/sdlog2/logbuffer.h | 4 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 14 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_format.h | 4 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 16 |
5 files changed, 31 insertions, 11 deletions
diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c index 2e1e4fd4d..b3243f7b5 100644 --- a/src/modules/sdlog2/logbuffer.c +++ b/src/modules/sdlog2/logbuffer.c @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * Author: Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,7 +37,7 @@ * * Ring FIFO buffer for binary log data. * - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <string.h> diff --git a/src/modules/sdlog2/logbuffer.h b/src/modules/sdlog2/logbuffer.h index 31521f722..3a5e3a29f 100644 --- a/src/modules/sdlog2/logbuffer.h +++ b/src/modules/sdlog2/logbuffer.h @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * Author: Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,7 +37,7 @@ * * Ring FIFO buffer for binary log data. * - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef SDLOG2_RINGBUFFER_H_ diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e03295e6d..deac9e20b 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -2,7 +2,7 @@ * * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> - * Anton Babushkin <rk3dov@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,7 +40,7 @@ * does the heavy SD I/O in a low-priority worker thread. * * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> @@ -685,6 +685,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; + struct log_GPOS_s log_GPOS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1056,7 +1057,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - // TODO not implemented yet + log_msg.msg_type = LOG_GPOS_MSG; + log_msg.body.log_GPOS.lat = buf.global_pos.lat; + log_msg.body.log_GPOS.lon = buf.global_pos.lon; + log_msg.body.log_GPOS.alt = buf.global_pos.alt; + log_msg.body.log_GPOS.vel_n = buf.global_pos.vx; + log_msg.body.log_GPOS.vel_e = buf.global_pos.vy; + log_msg.body.log_GPOS.vel_d = buf.global_pos.vz; + LOGBUFFER_WRITE_AND_COUNT(GPOS); } /* --- VICON POSITION --- */ diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h index 59b91d90d..5c175ef7e 100644 --- a/src/modules/sdlog2/sdlog2_format.h +++ b/src/modules/sdlog2/sdlog2_format.h @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * Author: Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,7 +37,7 @@ * * General log format structures and macro. * - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ /* diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c100e921b..4a66fe116 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -1,7 +1,7 @@ /**************************************************************************** * * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Anton Babushkin <rk3dov@gmail.com> + * Author: Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,7 +37,7 @@ * * Log messages and structures definition. * - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #ifndef SDLOG2_MESSAGES_H_ @@ -198,6 +198,17 @@ struct log_FLOW_s { uint8_t quality; uint8_t sensor_id; }; + +/* --- GPOS - GLOBAL POSITION ESTIMATE --- */ +#define LOG_GPOS_MSG 16 +struct log_GPOS_s { + int32_t lat; + int32_t lon; + float alt; + float vel_n; + float vel_e; + float vel_d; +}; #pragma pack(pop) /* construct list of all message formats */ @@ -218,6 +229,7 @@ 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"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |