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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-17 23:25:33 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-17 23:25:33 +0200 |
| commit | b8da27561613a0890fd21e43064b457a58daaab3 (patch) | |
| tree | 66db35374a7d795f3445529fce796dc592a02402 /src/modules | |
| parent | 9559668f0fb7477e2f777beff899589a387d26c5 (diff) | |
| download | px4-firmware-b8da27561613a0890fd21e43064b457a58daaab3.tar.gz px4-firmware-b8da27561613a0890fd21e43064b457a58daaab3.tar.bz2 px4-firmware-b8da27561613a0890fd21e43064b457a58daaab3.zip | |
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Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 25 |
1 files changed, 14 insertions, 11 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f534c0f4c..e078b47d6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1432,17 +1432,20 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION SETPOINT --- */ if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) { - log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.nav_state = 0; /* TODO: Fix this */ - 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.alt = buf.triplet.current.alt; - log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; - 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.pitch_min = buf.triplet.current.pitch_min; - LOGBUFFER_WRITE_AND_COUNT(GPSP); + + if (buf.triplet.current.valid) { + log_msg.msg_type = LOG_GPSP_MSG; + log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state; + 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.alt = buf.triplet.current.alt; + log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; + 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.pitch_min = buf.triplet.current.pitch_min; + LOGBUFFER_WRITE_AND_COUNT(GPSP); + } } /* --- VICON POSITION --- */ |