diff options
| -rwxr-xr-x | ROMFS/logging/logconv.m | 4 | ||||
| -rw-r--r-- | apps/sdlog/sdlog.c | 2 | ||||
| -rw-r--r-- | apps/sdlog/sdlog_ringbuffer.h | 4 | ||||
| -rw-r--r-- | apps/sensors/sensors.cpp | 8 |
4 files changed, 11 insertions, 7 deletions
diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m index 5ea2aeb95..92ee01413 100755 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/logging/logconv.m @@ -33,7 +33,7 @@ end % float vbat; //battery voltage in [volt] % float bat_current - current drawn from battery at this time instant % float bat_discharged - discharged energy in mAh -% float adc[3]; //remaining auxiliary ADC ports [volt] +% float adc[4]; //ADC ports [volt] % float local_position[3]; //tangent plane mapping into x,y,z [m] % int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] % float attitude[3]; //pitch, roll, yaw [rad] @@ -57,7 +57,7 @@ logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, ' logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{11} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{12} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{13} = struct('name', 'adc', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{14} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{15} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); logFormat{16} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index 4fd5fea1b..df8745d9f 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -683,7 +683,7 @@ int sdlog_thread_main(int argc, char *argv[]) .vbat = buf.batt.voltage_v, .bat_current = buf.batt.current_a, .bat_discharged = buf.batt.discharged_mah, - .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]}, + .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2], buf.raw.adc_voltage_v[3]}, .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, diff --git a/apps/sdlog/sdlog_ringbuffer.h b/apps/sdlog/sdlog_ringbuffer.h index f7fc0d450..b65916459 100644 --- a/apps/sdlog/sdlog_ringbuffer.h +++ b/apps/sdlog/sdlog_ringbuffer.h @@ -56,7 +56,7 @@ struct sdlog_sysvector { float vbat; /**< battery voltage in [volt] */ float bat_current; /**< battery discharge current */ float bat_discharged; /**< discharged energy in mAh */ - float adc[3]; /**< remaining auxiliary ADC ports [volt] */ + float adc[4]; /**< ADC ports [volt] */ float local_position[3]; /**< tangent plane mapping into x,y,z [m] */ int32_t gps_raw_position[3]; /**< latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] */ float attitude[3]; /**< roll, pitch, yaw [rad] */ @@ -88,4 +88,4 @@ void sdlog_logbuffer_write(struct sdlog_logbuffer *lb, const struct sdlog_sysvec int sdlog_logbuffer_read(struct sdlog_logbuffer *lb, struct sdlog_sysvector *elem); -#endif
\ No newline at end of file +#endif diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 6a4cf0c65..becd32f7d 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -998,12 +998,16 @@ Sensors::adc_poll(struct sensor_combined_s &raw) /* read all channels available */ int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc)); - /* look for battery channel */ - for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) { if (ret >= (int)sizeof(buf_adc[0])) { + /* Save raw voltage values */ + if (i < (sizeof(raw.adc_voltage_v)) / sizeof(raw.adc_voltage_v[0])) { + raw.adc_voltage_v[i] = buf_adc[i].am_data / (4096.0f / 3.3f); + } + + /* look for specific channels and process the raw voltage to measurement data */ if (ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) { /* Voltage in volts */ float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling); |