diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/md25/md25.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp index f9f5d70ab..4e7e2694a 100644 --- a/src/drivers/md25/md25.cpp +++ b/src/drivers/md25/md25.cpp @@ -49,6 +49,7 @@ #include <systemlib/err.h> #include <arch/board/board.h> +#include <mavlink/mavlink_log.h> // registers enum { @@ -73,6 +74,9 @@ enum { REG_COMMAND_RW, }; +// File descriptors +static int mavlink_fd; + MD25::MD25(const char *deviceName, int bus, uint16_t address, uint32_t speed) : I2C("MD25", deviceName, bus, address, speed), @@ -579,6 +583,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address) usleep(1000000 * dt); t += dt; float speed_rpm = 60*(md25.getRevolutions1() - prev_revolution)/dt; + mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)speed_rpm); md25.readData(); if (t > 2.0f) break; } |