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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 11:09:21 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 11:09:21 +0400 |
| commit | 665a9b8865b394c1e4d15d74632551dfd216eab9 (patch) | |
| tree | 784e039f538bb7f058e2ce83f68b77225114790b /src/modules/sdlog2 | |
| parent | 7d37c2a8b36309f27d7001ba035d30c72620ba05 (diff) | |
| parent | 8191130bbc8f2cbd53e69a7bcd1a4d4b1b2d68bb (diff) | |
| download | px4-firmware-665a9b8865b394c1e4d15d74632551dfd216eab9.tar.gz px4-firmware-665a9b8865b394c1e4d15d74632551dfd216eab9.tar.bz2 px4-firmware-665a9b8865b394c1e4d15d74632551dfd216eab9.zip | |
Merge commit '8191130bbc8f2cbd53e69a7bcd1a4d4b1b2d68bb' into seatbelt_multirotor
Diffstat (limited to 'src/modules/sdlog2')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 11 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 15 |
2 files changed, 24 insertions, 2 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c802d5efa..69d87d92b 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -684,6 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_OUT0_s log_OUT0; 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 = { @@ -1076,7 +1077,15 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - // TODO not implemented yet + log_msg.msg_type = LOG_FLOW_MSG; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; + LOGBUFFER_WRITE_AND_COUNT(FLOW); } /* --- RC CHANNELS --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 55bc36717..ce1815c6b 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -187,8 +187,20 @@ struct log_ARSP_s { float yaw_rate_sp; }; +/* --- FLOW - OPTICAL FLOW --- */ +#define LOG_FLOW_MSG 15 +struct log_FLOW_s { + int16_t flow_raw_x; + int16_t flow_raw_y; + float flow_comp_x; + float flow_comp_y; + float distance; + uint8_t quality; + uint8_t sensor_id; +}; + /* --- GPOS - GLOBAL POSITION --- */ -#define LOG_GPOS_MSG 15 +#define LOG_GPOS_MSG 64 struct log_GPOS_s { int32_t lat; int32_t lon; @@ -218,6 +230,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), 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, "LLfffff", "Lat,Lon,Alt,VelN,VelE,VelD,Heading"), }; |