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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-01 10:42:56 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-01 10:42:56 +0200 |
| commit | 1f951b0df9ad475349ba4c7e815483445128cc2a (patch) | |
| tree | 6a357ad5845c4da04c5d99e66512cc2981c71346 /src | |
| parent | 0f548ab88cb36be362d14f9e9e76c53e3764e3c9 (diff) | |
| download | px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.tar.gz px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.tar.bz2 px4-firmware-1f951b0df9ad475349ba4c7e815483445128cc2a.zip | |
add logging for gpos terrain alt
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 7 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 3 |
2 files changed, 8 insertions, 2 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index dbda8ea6f..e13593077 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; log_msg.body.log_GPOS.eph = buf.global_pos.eph; log_msg.body.log_GPOS.epv = buf.global_pos.epv; + if (buf.global_pos.terrain_alt_valid) { + log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt; + } else { + log_msg.body.log_GPOS.terrain_alt = -1.0f; + } LOGBUFFER_WRITE_AND_COUNT(GPOS); } @@ -1464,7 +1469,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; LOGBUFFER_WRITE_AND_COUNT(VICN); } - + /* --- VISION POSITION --- */ if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) { log_msg.msg_type = LOG_VISN_MSG; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 6741c7e25..d2845eb75 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -220,6 +220,7 @@ struct log_GPOS_s { float vel_d; float eph; float epv; + float terrain_alt; }; /* --- GPSP - GLOBAL POSITION SETPOINT --- */ @@ -449,7 +450,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"), + LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), |