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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 21:54:34 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 21:54:34 +0100 |
| commit | 82e2619f1f9e9f17fa07873078c28106e5eb6b64 (patch) | |
| tree | 88521c45c51832f4d68f0fbf852044599ae796f0 /src/modules | |
| parent | 9153eee2352859182bc8573cd5898bc6edd689b8 (diff) | |
| parent | 4840d5fbcb936147276d639ad628c12c7c0d400e (diff) | |
| download | px4-firmware-82e2619f1f9e9f17fa07873078c28106e5eb6b64.tar.gz px4-firmware-82e2619f1f9e9f17fa07873078c28106e5eb6b64.tar.bz2 px4-firmware-82e2619f1f9e9f17fa07873078c28106e5eb6b64.zip | |
Merge pull request #721 from PX4/laser_rangefinder
Laser rangefinder
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 14 |
1 files changed, 14 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ad3a7f12c..2514bafee 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -58,6 +58,8 @@ #include <drivers/drv_hrt.h> #include <math.h> +#include <drivers/drv_range_finder.h> + #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/sensor_combined.h> @@ -791,6 +793,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; struct telemetry_status_s telemetry; + struct range_finder_report range_finder; } buf; memset(&buf, 0, sizeof(buf)); @@ -851,6 +854,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_vel_sp_sub; int battery_sub; int telemetry_sub; + int range_finder_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -874,6 +878,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); + subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); thread_running = true; @@ -1227,6 +1232,15 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(TELE); } + /* --- BOTTOM DISTANCE --- */ + if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) { + log_msg.msg_type = LOG_DIST_MSG; + log_msg.body.log_DIST.bottom = buf.range_finder.distance; + log_msg.body.log_DIST.bottom_rate = 0.0f; + log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); + LOGBUFFER_WRITE_AND_COUNT(DIST); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ |