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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-25 21:04:08 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-25 21:04:08 +0400 |
| commit | fdc7247fcf507faa6288c5c1f203f7d5b9221692 (patch) | |
| tree | 52cff98b9b031c527bb97d0de5ad7cc390c81387 /src | |
| parent | 85b5da8078873a13a5fc0fd4ee3fe0a02917e87c (diff) | |
| download | px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.tar.gz px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.tar.bz2 px4-firmware-fdc7247fcf507faa6288c5c1f203f7d5b9221692.zip | |
sdlog2: FLOW message added, bug fixed in optical_flow topic
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 11 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 13 | ||||
| -rw-r--r-- | src/modules/uORB/topics/optical_flow.h | 4 |
3 files changed, 25 insertions, 3 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c543fb1b4..14dfefc53 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -684,6 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; + struct log_FLOW_s log_FLOW; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1067,7 +1068,15 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - // TODO not implemented yet + log_msg.msg_type = LOG_FLOW_MSG; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; + LOGBUFFER_WRITE_AND_COUNT(FLOW); } /* --- RC CHANNELS --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 7f7bf6053..c100e921b 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -186,6 +186,18 @@ struct log_ARSP_s { float pitch_rate_sp; float yaw_rate_sp; }; + +/* --- FLOW - OPTICAL FLOW --- */ +#define LOG_FLOW_MSG 15 +struct log_FLOW_s { + int16_t flow_raw_x; + int16_t flow_raw_y; + float flow_comp_x; + float flow_comp_y; + float distance; + uint8_t quality; + uint8_t sensor_id; +}; #pragma pack(pop) /* construct list of all message formats */ @@ -205,6 +217,7 @@ static const struct log_format_s log_formats[] = { 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"), + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); diff --git a/src/modules/uORB/topics/optical_flow.h b/src/modules/uORB/topics/optical_flow.h index c854f0079..98f0e3fa2 100644 --- a/src/modules/uORB/topics/optical_flow.h +++ b/src/modules/uORB/topics/optical_flow.h @@ -57,8 +57,8 @@ struct optical_flow_s { uint64_t timestamp; /**< in microseconds since system start */ - uint16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ - uint16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ + int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */ + int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */ float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */ float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */ float ground_distance_m; /**< Altitude / distance to ground in meters */ |