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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 00:03:17 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 00:03:17 +0200 |
| commit | e4bdf2f65a74407bfe6abb6f45c85c68e88cf6c8 (patch) | |
| tree | c8e410f49bc81c8b7aa87a49d2a1b4014184274c /src | |
| parent | 193e214b94f6d2a2400f5f1341b7f2f28cd866aa (diff) | |
| parent | ba7df4c170e069812387e08445cfa0e7789bf34d (diff) | |
| download | px4-firmware-e4bdf2f65a74407bfe6abb6f45c85c68e88cf6c8.tar.gz px4-firmware-e4bdf2f65a74407bfe6abb6f45c85c68e88cf6c8.tar.bz2 px4-firmware-e4bdf2f65a74407bfe6abb6f45c85c68e88cf6c8.zip | |
Merge pull request #1199 from PX4/navlogfix
Nav log fix
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 25 | ||||
| -rw-r--r-- | src/modules/uORB/topics/position_setpoint_triplet.h | 2 |
3 files changed, 17 insertions, 12 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 93cbfd7b1..331a9a728 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -458,7 +458,7 @@ void Navigator::publish_position_setpoint_triplet() { /* update navigation state */ - /* TODO: set nav_state */ + _pos_sp_triplet.nav_state = _vstatus.nav_state; /* lazily publish the position setpoint triplet only once available */ if (_pos_sp_triplet_pub > 0) { diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e0a3e7603..31861c3fc 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 --- */ diff --git a/src/modules/uORB/topics/position_setpoint_triplet.h b/src/modules/uORB/topics/position_setpoint_triplet.h index 673c0e491..4a1932180 100644 --- a/src/modules/uORB/topics/position_setpoint_triplet.h +++ b/src/modules/uORB/topics/position_setpoint_triplet.h @@ -95,6 +95,8 @@ struct position_setpoint_triplet_s struct position_setpoint_s previous; struct position_setpoint_s current; struct position_setpoint_s next; + + unsigned nav_state; /**< report the navigation state */ }; /** |