Tried to add ctrl debug values to sdlog2 (WIP)

3 files changed, 25 insertions, 20 deletions

diff --git a/src/modules/multirotor_att_control/multirotor_rate_control.c b/src/modules/multirotor_att_control/multirotor_rate_control.c
index 01bf383e2..e8dcbacc7 100644
--- a/src/modules/multirotor_att_control/multirotor_rate_control.c
+++ b/src/modules/multirotor_att_control/multirotor_rate_control.c
@@ -248,4 +248,5 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	motor_skip_counter++;
 
 	orb_publish(ORB_ID(vehicle_control_debug), control_debug_pub, &control_debug);
+	printf("Published control debug\n");
 }
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 844e02268..a86623304 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -91,6 +91,7 @@
 
 #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
 		log_msgs_written++; \
+		printf("size: %d\n", LOG_PACKET_SIZE(_msg)); \
 	} else { \
 		log_msgs_skipped++; \
 		/*printf("skip\n");*/ \
@@ -1071,25 +1072,28 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* --- CONTROL DEBUG --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug);
-				
-				log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
-				log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
-				log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
+				printf("copied control debug\n");
+
+				// log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p;
+				// log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i;
+				// log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d;
 				log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p;
 				log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i;
 				log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d;
-				log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
-				log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
-				log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
+				// log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p;
+				// log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i;
+				// log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d;
 				log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p;
 				log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i;
 				log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d;
-				log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
-				log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
-				log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
+				// log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p;
+				// log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i;
+				// log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d;
 				log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p;
 				log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i;
 				log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d;
+
+				LOGBUFFER_WRITE_AND_COUNT(CTRL);
 			}
 
 			/* --- FLOW --- */
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index a80af33ef..8930db33b 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -159,25 +159,25 @@ struct log_STAT_s {
 /* --- CTRL - CONTROL DEBUG --- */
 #define LOG_CTRL_MSG 11
 struct log_CTRL_s {
-	float roll_p;
-	float roll_i;
-	float roll_d;
+	// float roll_p;
+	// float roll_i;
+	// float roll_d;
 
 	float roll_rate_p;
 	float roll_rate_i;
 	float roll_rate_d;
 
-	float pitch_p;
-	float pitch_i;
-	float pitch_d;
+	// float pitch_p;
+	// float pitch_i;
+	// float pitch_d;
 
 	float pitch_rate_p;
 	float pitch_rate_i;
 	float pitch_rate_d;
 
-	float yaw_p;
-	float yaw_i;
-	float yaw_d;
+	// float yaw_p;
+	// float yaw_i;
+	// float yaw_d;
 
 	float yaw_rate_p;
 	float yaw_rate_i;
@@ -210,7 +210,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
 	LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
 	LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
-	LOG_FORMAT(CTRL, "ffffffffffffffffff", "RollP,RollI,RollD,RollRateP,RollRateI,RollRateD,PitchP,PitchI,PitchD,PitchRateP,PitchRateI,PitchRateD,YawP,YawI,YawD,YawRateP,YawRateI,YawRateD"),
+	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"),
 };