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author | Julian Oes <julian@oes.ch> | 2013-06-19 10:20:56 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-19 10:20:56 +0200 |
commit | 26858ad40383739cff66bf0981a21990597c1aea (patch) | |
tree | 8a31110cceb9a103d04e053e288b5fb5ddb190d7 /src/modules | |
parent | 8d6cc86b4f37773c9c4db77b9666fa2a075c1871 (diff) | |
parent | 85b5da8078873a13a5fc0fd4ee3fe0a02917e87c (diff) | |
download | px4-firmware-26858ad40383739cff66bf0981a21990597c1aea.tar.gz px4-firmware-26858ad40383739cff66bf0981a21990597c1aea.tar.bz2 px4-firmware-26858ad40383739cff66bf0981a21990597c1aea.zip |
Merge remote-tracking branch 'upstream/master' into pid_fixes
Conflicts:
src/modules/sdlog2/sdlog2.c
Diffstat (limited to 'src/modules')
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 | ||||
-rw-r--r-- | src/modules/sdlog2/logbuffer.c | 2 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 174 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 25 |
4 files changed, 135 insertions, 68 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 8e18c3c9a..16d5ad626 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 12400, + 14000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/modules/sdlog2/logbuffer.c b/src/modules/sdlog2/logbuffer.c index 8aaafaf31..2e1e4fd4d 100644 --- a/src/modules/sdlog2/logbuffer.c +++ b/src/modules/sdlog2/logbuffer.c @@ -121,7 +121,7 @@ int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part) } else { // read pointer is after write pointer, read bytes from read_ptr to end of the buffer n = lb->size - lb->read_ptr; - *is_part = true; + *is_part = lb->write_ptr > 0; } *ptr = &(lb->data[lb->read_ptr]); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1008c149f..f89b49acf 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -64,6 +64,7 @@ #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/vehicle_rates_setpoint.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> @@ -103,7 +104,7 @@ //#define SDLOG2_DEBUG -static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool main_thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */ @@ -114,35 +115,34 @@ static const int MAX_WRITE_CHUNK = 512; static const int MIN_BYTES_TO_WRITE = 512; static const char *mountpoint = "/fs/microsd"; -int log_file = -1; -int mavlink_fd = -1; +static int mavlink_fd = -1; struct logbuffer_s lb; /* mutex / condition to synchronize threads */ -pthread_mutex_t logbuffer_mutex; -pthread_cond_t logbuffer_cond; +static pthread_mutex_t logbuffer_mutex; +static pthread_cond_t logbuffer_cond; -char folder_path[64]; +static char folder_path[64]; /* statistics counters */ -unsigned long log_bytes_written = 0; -uint64_t start_time = 0; -unsigned long log_msgs_written = 0; -unsigned long log_msgs_skipped = 0; +static unsigned long log_bytes_written = 0; +static uint64_t start_time = 0; +static unsigned long log_msgs_written = 0; +static unsigned long log_msgs_skipped = 0; /* current state of logging */ -bool logging_enabled = false; +static bool logging_enabled = false; /* enable logging on start (-e option) */ -bool log_on_start = false; +static bool log_on_start = false; /* enable logging when armed (-a option) */ -bool log_when_armed = false; +static bool log_when_armed = false; /* delay = 1 / rate (rate defined by -r option) */ -useconds_t sleep_delay = 0; +static useconds_t sleep_delay = 0; /* helper flag to track system state changes */ -bool flag_system_armed = false; +static bool flag_system_armed = false; -pthread_t logwriter_pthread = 0; +static pthread_t logwriter_pthread = 0; /** * Log buffer writing thread. Open and close file here. @@ -172,17 +172,17 @@ static void sdlog2_status(void); /** * Start logging: create new file and start log writer thread. */ -void sdlog2_start_log(); +static void sdlog2_start_log(void); /** * Stop logging: stop log writer thread and close log file. */ -void sdlog2_stop_log(); +static void sdlog2_stop_log(void); /** * Write a header to log file: list of message formats. */ -void write_formats(int fd); +static void write_formats(int fd); static bool file_exist(const char *filename); @@ -196,12 +196,12 @@ static void handle_status(struct vehicle_status_s *cmd); /** * Create folder for current logging session. Store folder name in 'log_folder'. */ -static int create_logfolder(); +static int create_logfolder(void); /** * Select first free log file name and open it. */ -static int open_logfile(); +static int open_logfile(void); static void sdlog2_usage(const char *reason) @@ -237,11 +237,11 @@ int sdlog2_main(int argc, char *argv[]) exit(0); } - thread_should_exit = false; + main_thread_should_exit = false; deamon_task = task_spawn("sdlog2", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 30, - 2048, + 3000, sdlog2_thread_main, (const char **)argv); exit(0); @@ -252,7 +252,7 @@ int sdlog2_main(int argc, char *argv[]) printf("\tsdlog2 is not started\n"); } - thread_should_exit = true; + main_thread_should_exit = true; exit(0); } @@ -286,22 +286,6 @@ int create_logfolder() if (mkdir_ret == 0) { /* folder does not exist, success */ - - /* copy parser script file */ - // TODO - /* - char mfile_out[100]; - sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber); - int ret = file_copy(mfile_in, mfile_out); - - if (!ret) { - warnx("copied m file to %s", mfile_out); - - } else { - warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out); - } - */ - break; } else if (mkdir_ret == -1) { @@ -347,10 +331,10 @@ int open_logfile() fd = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC); if (fd == 0) { - errx(1, "opening %s failed.", path_buf); + warn("opening %s failed", path_buf); } - warnx("logging to: %s", path_buf); + warnx("logging to: %s.", path_buf); mavlink_log_info(mavlink_fd, "[sdlog2] log: %s", path_buf); return fd; @@ -358,7 +342,7 @@ int open_logfile() if (file_number > MAX_NO_LOGFILE) { /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */ - warn("all %d possible files exist already", MAX_NO_LOGFILE); + warnx("all %d possible files exist already.", MAX_NO_LOGFILE); return -1; } @@ -384,8 +368,7 @@ static void *logwriter_thread(void *arg) bool should_wait = false; bool is_part = false; - while (!thread_should_exit && !logwriter_should_exit) { - + while (true) { /* make sure threads are synchronized */ pthread_mutex_lock(&logbuffer_mutex); @@ -395,7 +378,7 @@ static void *logwriter_thread(void *arg) } /* only wait if no data is available to process */ - if (should_wait) { + if (should_wait && !logwriter_should_exit) { /* blocking wait for new data at this line */ pthread_cond_wait(&logbuffer_cond, &logbuffer_mutex); } @@ -403,6 +386,11 @@ static void *logwriter_thread(void *arg) /* only get pointer to thread-safe data, do heavy I/O a few lines down */ int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part); +#ifdef SDLOG2_DEBUG + int rp = logbuf->read_ptr; + int wp = logbuf->write_ptr; +#endif + /* continue */ pthread_mutex_unlock(&logbuffer_mutex); @@ -419,11 +407,11 @@ static void *logwriter_thread(void *arg) should_wait = (n == available) && !is_part; #ifdef SDLOG2_DEBUG - printf("%i wrote: %i of %i, is_part=%i, should_wait=%i", poll_count, n, available, (int)is_part, (int)should_wait); + printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait); #endif if (n < 0) { - thread_should_exit = true; + main_thread_should_exit = true; err(1, "error writing log file"); } @@ -432,19 +420,33 @@ static void *logwriter_thread(void *arg) } } else { + n = 0; +#ifdef SDLOG2_DEBUG + printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit); +#endif + /* exit only with empty buffer */ + if (main_thread_should_exit || logwriter_should_exit) { +#ifdef SDLOG2_DEBUG + printf("break logwriter thread\n"); +#endif + break; + } should_wait = true; } - if (poll_count % 10 == 0) { + if (++poll_count == 10) { fsync(log_file); + poll_count = 0; } - - poll_count++; } fsync(log_file); close(log_file); +#ifdef SDLOG2_DEBUG + printf("logwriter thread exit\n"); +#endif + return OK; } @@ -471,10 +473,9 @@ void sdlog2_start_log() pthread_attr_setstacksize(&receiveloop_attr, 2048); logwriter_should_exit = false; - pthread_t thread; /* start log buffer emptying thread */ - if (0 != pthread_create(&thread, &receiveloop_attr, logwriter_thread, &lb)) { + if (0 != pthread_create(&logwriter_pthread, &receiveloop_attr, logwriter_thread, &lb)) { errx(1, "error creating logwriter thread"); } @@ -488,16 +489,20 @@ void sdlog2_stop_log() mavlink_log_info(mavlink_fd, "[sdlog2] stop logging"); logging_enabled = false; - logwriter_should_exit = true; /* wake up write thread one last time */ pthread_mutex_lock(&logbuffer_mutex); + logwriter_should_exit = true; pthread_cond_signal(&logbuffer_cond); /* unlock, now the writer thread may return */ pthread_mutex_unlock(&logbuffer_mutex); /* wait for write thread to return */ - (void)pthread_join(logwriter_pthread, NULL); + int ret; + if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) { + warnx("error joining logwriter thread: %i", ret); + } + logwriter_pthread = 0; sdlog2_status(); } @@ -518,7 +523,7 @@ void write_formats(int fd) for (i = 0; i < log_formats_num; i++) { log_format_packet.body = log_formats[i]; - write(fd, &log_format_packet, sizeof(log_format_packet)); + log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet)); } fsync(fd); @@ -608,12 +613,10 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "can't allocate log buffer, exiting."); } - /* file descriptors to wait for */ - struct pollfd fds_control[2]; - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ /* number of messages */ - const ssize_t fdsc = 16; + + const ssize_t fdsc = 18; /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -628,6 +631,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct sensor_combined_s sensor; struct vehicle_attitude_s att; struct vehicle_attitude_setpoint_s att_sp; + struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; struct actuator_controls_effective_s act_controls_effective; @@ -650,6 +654,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int sensor_sub; int att_sub; int att_sp_sub; + int rates_sp_sub; int act_outputs_sub; int act_controls_sub; int act_controls_effective_sub; @@ -661,6 +666,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int control_debug_sub; int flow_sub; int rc_sub; + int airspeed_sub; } subs; /* log message buffer: header + body */ @@ -681,6 +687,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_CTRL_s log_CTRL; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; + struct log_AIRS_s log_AIRS; + struct log_ARSP_s log_ARSP; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -724,6 +732,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- RATES SETPOINT --- */ + subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); + fds[fdsc_count].fd = subs.rates_sp_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* --- ACTUATOR OUTPUTS --- */ subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS); fds[fdsc_count].fd = subs.act_outputs_sub; @@ -784,6 +798,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -816,7 +836,7 @@ int sdlog2_thread_main(int argc, char *argv[]) if (log_on_start) sdlog2_start_log(); - while (!thread_should_exit) { + while (!main_thread_should_exit) { /* decide use usleep() or blocking poll() */ bool use_sleep = sleep_delay > 0 && logging_enabled; @@ -826,7 +846,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* handle the poll result */ if (poll_ret < 0) { warnx("ERROR: poll error, stop logging."); - thread_should_exit = true; + main_thread_should_exit = true; } else if (poll_ret > 0) { @@ -893,7 +913,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPS.epv = buf.gps_pos.epv_m; log_msg.body.log_GPS.lat = buf.gps_pos.lat; log_msg.body.log_GPS.lon = buf.gps_pos.lon; - log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001; + log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f; log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s; log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s; @@ -963,6 +983,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.roll = buf.att.roll; log_msg.body.log_ATT.pitch = buf.att.pitch; log_msg.body.log_ATT.yaw = buf.att.yaw; + log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; + log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; + log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; LOGBUFFER_WRITE_AND_COUNT(ATT); } @@ -973,9 +996,20 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; + log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; LOGBUFFER_WRITE_AND_COUNT(ATSP); } + /* --- RATES SETPOINT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp); + log_msg.msg_type = LOG_ARSP_MSG; + log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; + log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; + log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; + LOGBUFFER_WRITE_AND_COUNT(ARSP); + } + /* --- ACTUATOR OUTPUTS --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs); @@ -1073,10 +1107,22 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(RC); } + /* --- AIRSPEED --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } + +#ifdef SDLOG2_DEBUG + printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); +#endif /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { #ifdef SDLOG2_DEBUG - printf("signal %i", logbuffer_count(&lb)); + printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); #endif /* only request write if several packets can be written at once */ pthread_cond_signal(&logbuffer_cond); diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 8dd36c74d..bd69445b5 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -60,6 +60,9 @@ struct log_ATT_s { float roll; float pitch; float yaw; + float roll_rate; + float pitch_rate; + float yaw_rate; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -68,6 +71,7 @@ struct log_ATSP_s { float roll_sp; float pitch_sp; float yaw_sp; + float thrust_sp; }; /* --- IMU - IMU SENSORS --- */ @@ -181,14 +185,29 @@ struct log_RC_s { struct log_OUT0_s { float output[8]; }; + +/* --- AIRS - AIRSPEED --- */ +#define LOG_AIRS_MSG 13 +struct log_AIRS_s { + float indicated_airspeed; + float true_airspeed; +}; + +/* --- ARSP - ATTITUDE RATE SET POINT --- */ +#define LOG_ARSP_MSG 14 +struct log_ARSP_s { + float roll_rate_sp; + float pitch_rate_sp; + float yaw_rate_sp; +}; #pragma pack(pop) /* construct list of all message formats */ static const struct log_format_s log_formats[] = { LOG_FORMAT(TIME, "Q", "StartTime"), - LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"), - LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"), + LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"), @@ -199,6 +218,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(CTRL, "fffffffff", "RollRP,RollRI,RollRD,PitchRP,PitchRI,PitchRD,YawRP,YawRI,YawRD"), LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"), 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"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |