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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 22:41:26 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-23 22:41:26 +0100 |
| commit | 1cffa9d2f77f788f8446e0aceec60b7676a0a65f (patch) | |
| tree | 6ed00299b9b3f2e096f13a4eb615ffd84e4c2564 /src/modules/sdlog2 | |
| parent | 6acb8fa66f38d20af57b8c45cc7878257abb24d2 (diff) | |
| download | px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.tar.gz px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.tar.bz2 px4-firmware-1cffa9d2f77f788f8446e0aceec60b7676a0a65f.zip | |
position_setpoint_triplet refactoring finished
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 13 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 9 |
2 files changed, 8 insertions, 14 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index de510e022..46f8ed827 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -73,7 +73,7 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/mission_item_triplet.h> +#include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -908,7 +908,7 @@ int sdlog2_thread_main(int argc, char *argv[]) fdsc_count++; /* --- GLOBAL POSITION SETPOINT--- */ - subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); + subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); fds[fdsc_count].fd = subs.triplet_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -1263,18 +1263,15 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet); + orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet); log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative; log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d); log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d); - log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude; + log_msg.body.log_GPSP.alt = buf.triplet.current.alt; log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; - log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd; + log_msg.body.log_GPSP.type = buf.triplet.current.type; log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; - log_msg.body.log_GPSP.acceptance_radius = buf.triplet.current.acceptance_radius; - log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside; log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; LOGBUFFER_WRITE_AND_COUNT(GPSP); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 503dc0afc..98736dd21 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -210,16 +210,13 @@ struct log_GPOS_s { /* --- GPSP - GLOBAL POSITION SETPOINT --- */ #define LOG_GPSP_MSG 17 struct log_GPSP_s { - uint8_t altitude_is_relative; int32_t lat; int32_t lon; - float altitude; + float alt; float yaw; - uint8_t nav_cmd; + uint8_t type; float loiter_radius; int8_t loiter_direction; - float acceptance_radius; - float time_inside; float pitch_min; }; @@ -307,7 +304,7 @@ static const struct log_format_s log_formats[] = { 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(GPSP, "BLLffBfbfff", "AltRel,Lat,Lon,Alt,Yaw,NavCmd,LoitR,LoitDir,AccR,TimeIn,PitMin"), + LOG_FORMAT(GPSP, "LLffBfbf", "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"), LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), |