diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-30 19:15:02 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-30 19:15:02 +0200 |
| commit | aa04701c89f912d455f8d2cf7a09c367d3ddd4e6 (patch) | |
| tree | 4861ea3545bdcde0bc899458a8504bcda3217d50 /src | |
| parent | 8191130bbc8f2cbd53e69a7bcd1a4d4b1b2d68bb (diff) | |
| download | px4-firmware-aa04701c89f912d455f8d2cf7a09c367d3ddd4e6.tar.gz px4-firmware-aa04701c89f912d455f8d2cf7a09c367d3ddd4e6.tar.bz2 px4-firmware-aa04701c89f912d455f8d2cf7a09c367d3ddd4e6.zip | |
Added global position to logging
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 10 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 12 |
2 files changed, 21 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 90460cc62..982f843be 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -685,6 +685,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; + struct log_GPOS_s log_GPOS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1056,7 +1057,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - // TODO not implemented yet + log_msg.msg_type = LOG_GPOS_MSG; + log_msg.body.log_GPOS.lat = buf.global_pos.lat; + log_msg.body.log_GPOS.lon = buf.global_pos.lon; + log_msg.body.log_GPOS.alt = buf.global_pos.alt; + log_msg.body.log_GPOS.vel_n = buf.global_pos.vx; + log_msg.body.log_GPOS.vel_e = buf.global_pos.vy; + log_msg.body.log_GPOS.vel_d = buf.global_pos.vz; + LOGBUFFER_WRITE_AND_COUNT(GPOS); } /* --- VICON POSITION --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index c100e921b..1b2237d65 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -198,6 +198,17 @@ struct log_FLOW_s { uint8_t quality; uint8_t sensor_id; }; + +/* --- GPOS - GLOBAL POSITION ESTIMATE --- */ +#define LOG_GPOS_MSG 16 +struct log_GPOS_s { + int32_t lat; + int32_t lon; + float alt; + float vel_n; + float vel_e; + float vel_d; +}; #pragma pack(pop) /* construct list of all message formats */ @@ -218,6 +229,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |