Merge pull request #1317 from TSC21/sdlog2_vision

Sdlog2: add vision estimation logging

2 files changed, 36 insertions, 0 deletions

diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 6c4b49452..dbda8ea6f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -76,6 +76,7 @@
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/satellite_info.h>
 #include <uORB/topics/vehicle_vicon_position.h>
+#include <uORB/topics/vision_position_estimate.h>
 #include <uORB/topics/vehicle_global_velocity_setpoint.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/battery_status.h>
@@ -934,6 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct vehicle_global_position_s global_pos;
 		struct position_setpoint_triplet_s triplet;
 		struct vehicle_vicon_position_s vicon_pos;
+		struct vision_position_estimate vision_pos;
 		struct optical_flow_s flow;
 		struct rc_channels_s rc;
 		struct differential_pressure_s diff_pres;
@@ -984,6 +986,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_EST1_s log_EST1;
 			struct log_PWR_s log_PWR;
 			struct log_VICN_s log_VICN;
+			struct log_VISN_s log_VISN;
 			struct log_GS0A_s log_GS0A;
 			struct log_GS0B_s log_GS0B;
 			struct log_GS1A_s log_GS1A;
@@ -1013,6 +1016,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int gps_pos_sub;
 		int sat_info_sub;
 		int vicon_pos_sub;
+		int vision_pos_sub;
 		int flow_sub;
 		int rc_sub;
 		int airspeed_sub;
@@ -1043,6 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
 	subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
 	subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+	subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate));
 	subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
 	subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
 	subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
@@ -1459,6 +1464,22 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
 			LOGBUFFER_WRITE_AND_COUNT(VICN);
 		}
+		
+		/* --- VISION POSITION --- */
+		if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
+			log_msg.msg_type = LOG_VISN_MSG;
+			log_msg.body.log_VISN.x = buf.vision_pos.x;
+			log_msg.body.log_VISN.y = buf.vision_pos.y;
+			log_msg.body.log_VISN.z = buf.vision_pos.z;
+			log_msg.body.log_VISN.vx = buf.vision_pos.vx;
+			log_msg.body.log_VISN.vy = buf.vision_pos.vy;
+			log_msg.body.log_VISN.vz = buf.vision_pos.vz;
+			log_msg.body.log_VISN.qx = buf.vision_pos.q[0];
+			log_msg.body.log_VISN.qy = buf.vision_pos.q[1];
+			log_msg.body.log_VISN.qz = buf.vision_pos.q[2];
+			log_msg.body.log_VISN.qw = buf.vision_pos.q[3];
+			LOGBUFFER_WRITE_AND_COUNT(VISN);
+		}
 
 		/* --- FLOW --- */
 		if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index fb7609435..6741c7e25 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -391,6 +391,20 @@ struct log_TEL_s {
 	uint64_t heartbeat_time;
 };
 
+/* --- VISN - VISION POSITION --- */
+#define LOG_VISN_MSG 38
+struct log_VISN_s {
+	float x;
+	float y;
+	float z;
+	float vx;
+	float vy;
+	float vz;
+	float qx;
+	float qy;
+	float qz;
+	float qw;
+};
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
@@ -449,6 +463,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
 	LOG_FORMAT(VICN, "ffffff",		"X,Y,Z,Roll,Pitch,Yaw"),
+	LOG_FORMAT(VISN, "ffffffffff",		"X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
 	LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),