diff options
Diffstat (limited to 'apps/sdlog/sdlog.c')
| -rw-r--r-- | apps/sdlog/sdlog.c | 17 |
1 files changed, 14 insertions, 3 deletions
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index df8745d9f..46b232c34 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -71,6 +71,7 @@ #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/airspeed.h> #include <systemlib/systemlib.h> @@ -444,6 +445,7 @@ int sdlog_thread_main(int argc, char *argv[]) struct optical_flow_s flow; struct battery_status_s batt; struct differential_pressure_s diff_pressure; + struct airspeed_s airspeed; } buf; memset(&buf, 0, sizeof(buf)); @@ -462,6 +464,7 @@ int sdlog_thread_main(int argc, char *argv[]) int flow_sub; int batt_sub; int diff_pressure_sub; + int airspeed_sub; } subs; /* --- MANAGEMENT - LOGGING COMMAND --- */ @@ -563,6 +566,13 @@ int sdlog_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + /* subscribe to ORB for airspeed */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_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. @@ -655,6 +665,7 @@ int sdlog_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); /* if skipping is on or logging is disabled, ignore */ @@ -691,9 +702,9 @@ int sdlog_thread_main(int argc, char *argv[]) .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_mbar, - .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, - .true_airspeed = buf.diff_pressure.true_airspeed_m_s + .diff_pressure = buf.diff_pressure.differential_pressure_pa, + .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, + .true_airspeed = buf.airspeed.true_airspeed_m_s }; /* put into buffer for later IO */ |