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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-10 18:47:31 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-10 18:47:31 +0100 |
| commit | 3f3abebf688c97f87fd6d6016aac5d234d76893f (patch) | |
| tree | 810cdadd55e1215b816e655b82e820215fd5054d /src | |
| parent | 1c488a95da934817999a0a40ccb87e07bf5e0307 (diff) | |
| download | px4-firmware-3f3abebf688c97f87fd6d6016aac5d234d76893f.tar.gz px4-firmware-3f3abebf688c97f87fd6d6016aac5d234d76893f.tar.bz2 px4-firmware-3f3abebf688c97f87fd6d6016aac5d234d76893f.zip | |
Add range finder to logging
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1365d9e70..53f07651f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -58,6 +58,8 @@ #include <drivers/drv_hrt.h> #include <math.h> +#include <drivers/drv_range_finder.h> + #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/sensor_combined.h> @@ -759,6 +761,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; struct telemetry_status_s telemetry; + struct range_finder_report range_finder; } buf; memset(&buf, 0, sizeof(buf)); @@ -785,6 +788,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_vel_sp_sub; int battery_sub; int telemetry_sub; + int range_finder_sub; } subs; /* log message buffer: header + body */ @@ -955,6 +959,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- RANGE FINDER --- */ + subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); + fds[fdsc_count].fd = subs.range_finder_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -1370,6 +1380,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(TELE); } + /* --- BOTTOM DISTANCE --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder); + log_msg.msg_type = LOG_DIST_MSG; + log_msg.body.log_DIST.bottom = buf.range_finder.distance; + log_msg.body.log_DIST.bottom_rate = 0.0f; + log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); + LOGBUFFER_WRITE_AND_COUNT(DIST); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ |