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author | Julian Oes <julian@oes.ch> | 2013-06-16 14:59:00 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-06-16 14:59:00 +0200 |
commit | bd7f86bb6adf768169fe23b63d627a252586f6b7 (patch) | |
tree | 53c4db34057e2d76f57fca0640b7f74faaf22245 /src | |
parent | b52d561b11298abb2982b786676f49eea96259d8 (diff) | |
download | px4-firmware-bd7f86bb6adf768169fe23b63d627a252586f6b7.tar.gz px4-firmware-bd7f86bb6adf768169fe23b63d627a252586f6b7.tar.bz2 px4-firmware-bd7f86bb6adf768169fe23b63d627a252586f6b7.zip |
Tried to add ctrl debug values to sdlog2 (WIP)
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/multirotor_att_control/multirotor_rate_control.c | 1 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 24 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 20 |
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"), }; |