diff options
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 15 | ||||
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 21 |
2 files changed, 33 insertions, 3 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 48d107945..8aa4db934 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -504,6 +504,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_SENS_s log_SENS; struct log_LPOS_s log_LPOS; struct log_LPSP_s log_LPSP; + struct log_GPS_s log_GPS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -663,7 +664,19 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GPS POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); - // TODO not implemented yet + log_msg.msg_type = LOG_GPS_MSG; + log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec; + log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type; + log_msg.body.log_GPS.satellites_visible = buf.gps_pos.satellites_visible; + log_msg.body.log_GPS.lat = buf.gps_pos.lat; + log_msg.body.log_GPS.lon = buf.gps_pos.lon; + log_msg.body.log_GPS.alt = buf.gps_pos.alt; + log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; + log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s; + log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s; + log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad; + log_msg.body.log_GPS.vel_valid = (uint8_t) buf.gps_pos.vel_ned_valid; + sdlog2_logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(GPS)); } /* --- SENSOR COMBINED --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 0bc999e24..3ff597815 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -107,7 +107,7 @@ struct log_LPOS_s { float home_alt; }; -/* --- LPOS - LOCAL POSITION SETPOINT --- */ +/* --- LPSP - LOCAL POSITION SETPOINT --- */ #define LOG_LPSP_MSG 7 struct log_LPSP_s { float x; @@ -116,16 +116,33 @@ struct log_LPSP_s { float yaw; }; +/* --- GPS - GPS POSITION --- */ +#define LOG_GPS_MSG 8 +struct log_GPS_s { + uint64_t gps_time; + uint8_t fix_type; + uint8_t satellites_visible; + int32_t lat; + int32_t lon; + float alt; + float vel_n; + float vel_e; + float vel_d; + float cog; + uint8_t vel_valid; +}; + /* construct list of all message formats */ static const struct log_format_s log_formats[] = { - LOG_FORMAT(TIME, "Q", "t"), + LOG_FORMAT(TIME, "Q", "StartTime"), LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"), LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"), LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), + LOG_FORMAT(GPS, "QBBLLfffffB", "GPSTime,FixType,Sats,Lat,Lon,Alt,VelN,VelE,VelD,Cog,VelValid"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |