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diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c
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+/****************************************************************************
+ *
+ * Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ * Author: Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog.c
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Simple SD logger for flight data. Buffers new sensor values and
+ * does the heavy SD I/O in a low-priority worker thread.
+ */
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/prctl.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <poll.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <systemlib/err.h>
+#include <unistd.h>
+#include <drivers/drv_hrt.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/sensor_combined.h>
+#include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+#include <uORB/topics/actuator_outputs.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/actuator_controls_effective.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_global_position.h>
+#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/vehicle_vicon_position.h>
+#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>
+
+#include <mavlink/mavlink_log.h>
+
+#include "sdlog_ringbuffer.h"
+
+static bool thread_should_exit = false; /**< Deamon exit flag */
+static bool thread_running = false; /**< Deamon status flag */
+static int deamon_task; /**< Handle of deamon task / thread */
+static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
+
+static const char *mountpoint = "/fs/microsd";
+static const char *mfile_in = "/etc/logging/logconv.m";
+int sysvector_file = -1;
+int mavlink_fd = -1;
+struct sdlog_logbuffer lb;
+
+/* mutex / condition to synchronize threads */
+pthread_mutex_t sysvector_mutex;
+pthread_cond_t sysvector_cond;
+
+/**
+ * System state vector log buffer writing
+ */
+static void *sdlog_sysvector_write_thread(void *arg);
+
+/**
+ * Create the thread to write the system vector
+ */
+pthread_t sysvector_write_start(struct sdlog_logbuffer *logbuf);
+
+/**
+ * SD log management function.
+ */
+__EXPORT int sdlog_main(int argc, char *argv[]);
+
+/**
+ * Mainloop of sd log deamon.
+ */
+int sdlog_thread_main(int argc, char *argv[]);
+
+/**
+ * Print the correct usage.
+ */
+static void usage(const char *reason);
+
+static int file_exist(const char *filename);
+
+static int file_copy(const char *file_old, const char *file_new);
+
+static void handle_command(struct vehicle_command_s *cmd);
+
+/**
+ * Print the current status.
+ */
+static void print_sdlog_status(void);
+
+/**
+ * Create folder for current logging session.
+ */
+static int create_logfolder(char *folder_path);
+
+static void
+usage(const char *reason)
+{
+ if (reason)
+ fprintf(stderr, "%s\n", reason);
+
+ errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
+}
+
+// XXX turn this into a C++ class
+unsigned sensor_combined_bytes = 0;
+unsigned actuator_outputs_bytes = 0;
+unsigned actuator_controls_bytes = 0;
+unsigned sysvector_bytes = 0;
+unsigned blackbox_file_bytes = 0;
+uint64_t starttime = 0;
+
+/* logging on or off, default to true */
+bool logging_enabled = true;
+
+/**
+ * The sd log deamon app only briefly exists to start
+ * the background job. The stack size assigned in the
+ * Makefile does only apply to this management task.
+ *
+ * The actual stack size should be set in the call
+ * to task_spawn().
+ */
+int sdlog_main(int argc, char *argv[])
+{
+ if (argc < 1)
+ usage("missing command");
+
+ if (!strcmp(argv[1], "start")) {
+
+ if (thread_running) {
+ printf("sdlog already running\n");
+ /* this is not an error */
+ exit(0);
+ }
+
+ thread_should_exit = false;
+ deamon_task = task_spawn("sdlog",
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_DEFAULT - 30,
+ 4096,
+ sdlog_thread_main,
+ (const char **)argv);
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "stop")) {
+ if (!thread_running) {
+ printf("\tsdlog is not started\n");
+ }
+
+ thread_should_exit = true;
+ exit(0);
+ }
+
+ if (!strcmp(argv[1], "status")) {
+ if (thread_running) {
+ print_sdlog_status();
+
+ } else {
+ printf("\tsdlog not started\n");
+ }
+
+ exit(0);
+ }
+
+ usage("unrecognized command");
+ exit(1);
+}
+
+int create_logfolder(char *folder_path)
+{
+ /* make folder on sdcard */
+ uint16_t foldernumber = 1; // start with folder 0001
+ int mkdir_ret;
+
+ /* look for the next folder that does not exist */
+ while (foldernumber < MAX_NO_LOGFOLDER) {
+ /* set up file path: e.g. /mnt/sdcard/sensorfile0001.txt */
+ sprintf(folder_path, "%s/session%04u", mountpoint, foldernumber);
+ mkdir_ret = mkdir(folder_path, S_IRWXU | S_IRWXG | S_IRWXO);
+ /* the result is -1 if the folder exists */
+
+ if (mkdir_ret == 0) {
+ /* folder does not exist, success */
+
+ /* now copy the Matlab/Octave file */
+ char mfile_out[100];
+ sprintf(mfile_out, "%s/session%04u/run_to_plot_data.m", mountpoint, foldernumber);
+ int ret = file_copy(mfile_in, mfile_out);
+
+ if (!ret) {
+ warnx("copied m file to %s", mfile_out);
+
+ } else {
+ warnx("failed copying m file from %s to\n %s", mfile_in, mfile_out);
+ }
+
+ break;
+
+ } else if (mkdir_ret == -1) {
+ /* folder exists already */
+ foldernumber++;
+ continue;
+
+ } else {
+ warn("failed creating new folder");
+ return -1;
+ }
+ }
+
+ if (foldernumber >= MAX_NO_LOGFOLDER) {
+ /* we should not end up here, either we have more than MAX_NO_LOGFOLDER on the SD card, or another problem */
+ warn("all %d possible folders exist already", MAX_NO_LOGFOLDER);
+ return -1;
+ }
+
+ return 0;
+}
+
+
+static void *
+sdlog_sysvector_write_thread(void *arg)
+{
+ /* set name */
+ prctl(PR_SET_NAME, "sdlog microSD I/O", 0);
+
+ struct sdlog_logbuffer *logbuf = (struct sdlog_logbuffer *)arg;
+
+ int poll_count = 0;
+ struct sdlog_sysvector sysvect;
+ memset(&sysvect, 0, sizeof(sysvect));
+
+ while (!thread_should_exit) {
+
+ /* make sure threads are synchronized */
+ pthread_mutex_lock(&sysvector_mutex);
+
+ /* only wait if no data is available to process */
+ if (sdlog_logbuffer_is_empty(logbuf)) {
+ /* blocking wait for new data at this line */
+ pthread_cond_wait(&sysvector_cond, &sysvector_mutex);
+ }
+
+ /* only quickly load data, do heavy I/O a few lines down */
+ int ret = sdlog_logbuffer_read(logbuf, &sysvect);
+ /* continue */
+ pthread_mutex_unlock(&sysvector_mutex);
+
+ if (ret == OK) {
+ sysvector_bytes += write(sysvector_file, (const char *)&sysvect, sizeof(sysvect));
+ }
+
+ if (poll_count % 100 == 0) {
+ fsync(sysvector_file);
+ }
+
+ poll_count++;
+ }
+
+ fsync(sysvector_file);
+
+ return OK;
+}
+
+pthread_t
+sysvector_write_start(struct sdlog_logbuffer *logbuf)
+{
+ pthread_attr_t receiveloop_attr;
+ pthread_attr_init(&receiveloop_attr);
+
+ struct sched_param param;
+ /* low priority, as this is expensive disk I/O */
+ param.sched_priority = SCHED_PRIORITY_DEFAULT - 40;
+ (void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
+ pthread_attr_setstacksize(&receiveloop_attr, 2048);
+
+ pthread_t thread;
+ pthread_create(&thread, &receiveloop_attr, sdlog_sysvector_write_thread, logbuf);
+ return thread;
+
+ // XXX we have to destroy the attr at some point
+}
+
+
+int sdlog_thread_main(int argc, char *argv[])
+{
+ mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+
+ if (mavlink_fd < 0) {
+ warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
+ }
+
+ /* log every n'th value (skip three per default) */
+ int skip_value = 3;
+
+ /* work around some stupidity in task_create's argv handling */
+ argc -= 2;
+ argv += 2;
+ int ch;
+
+ while ((ch = getopt(argc, argv, "s:r")) != EOF) {
+ switch (ch) {
+ case 's':
+ {
+ /* log only every n'th (gyro clocked) value */
+ unsigned s = strtoul(optarg, NULL, 10);
+
+ if (s < 1 || s > 250) {
+ errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
+ } else {
+ skip_value = s;
+ }
+ }
+ break;
+
+ case 'r':
+ /* log only on request, disable logging per default */
+ logging_enabled = false;
+ break;
+
+ case '?':
+ if (optopt == 'c') {
+ warnx("Option -%c requires an argument.\n", optopt);
+ } else if (isprint(optopt)) {
+ warnx("Unknown option `-%c'.\n", optopt);
+ } else {
+ warnx("Unknown option character `\\x%x'.\n", optopt);
+ }
+
+ default:
+ usage("unrecognized flag");
+ errx(1, "exiting.");
+ }
+ }
+
+ if (file_exist(mountpoint) != OK) {
+ errx(1, "logging mount point %s not present, exiting.", mountpoint);
+ }
+
+ char folder_path[64];
+
+ if (create_logfolder(folder_path))
+ errx(1, "unable to create logging folder, exiting.");
+
+ FILE *gpsfile;
+ FILE *blackbox_file;
+
+ /* string to hold the path to the sensorfile */
+ char path_buf[64] = "";
+
+ /* only print logging path, important to find log file later */
+ warnx("logging to directory %s\n", folder_path);
+
+ /* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
+ sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
+
+ if (0 == (sysvector_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
+ errx(1, "opening %s failed.\n", path_buf);
+ }
+
+ /* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
+ sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
+
+ if (NULL == (gpsfile = fopen(path_buf, "w"))) {
+ errx(1, "opening %s failed.\n", path_buf);
+ }
+
+ int gpsfile_no = fileno(gpsfile);
+
+ /* set up file path: e.g. /mnt/sdcard/session0001/blackbox.txt */
+ sprintf(path_buf, "%s/%s.txt", folder_path, "blackbox");
+
+ if (NULL == (blackbox_file = fopen(path_buf, "w"))) {
+ errx(1, "opening %s failed.\n", path_buf);
+ }
+
+ // XXX for fsync() calls
+ int blackbox_file_no = fileno(blackbox_file);
+
+ /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
+ /* number of messages */
+ const ssize_t fdsc = 25;
+ /* Sanity check variable and index */
+ ssize_t fdsc_count = 0;
+ /* file descriptors to wait for */
+ struct pollfd fds[fdsc];
+
+
+ struct {
+ struct sensor_combined_s raw;
+ struct vehicle_attitude_s att;
+ struct vehicle_attitude_setpoint_s att_sp;
+ struct actuator_outputs_s act_outputs;
+ struct actuator_controls_s act_controls;
+ struct actuator_controls_effective_s act_controls_effective;
+ struct vehicle_command_s cmd;
+ struct vehicle_local_position_s local_pos;
+ struct vehicle_global_position_s global_pos;
+ struct vehicle_gps_position_s gps_pos;
+ struct vehicle_vicon_position_s vicon_pos;
+ struct optical_flow_s flow;
+ struct battery_status_s batt;
+ struct differential_pressure_s diff_pres;
+ struct airspeed_s airspeed;
+ } buf;
+ memset(&buf, 0, sizeof(buf));
+
+ struct {
+ int cmd_sub;
+ int sensor_sub;
+ int att_sub;
+ int spa_sub;
+ int act_0_sub;
+ int controls_0_sub;
+ int controls_effective_0_sub;
+ int local_pos_sub;
+ int global_pos_sub;
+ int gps_pos_sub;
+ int vicon_pos_sub;
+ int flow_sub;
+ int batt_sub;
+ int diff_pres_sub;
+ int airspeed_sub;
+ } subs;
+
+ /* --- MANAGEMENT - LOGGING COMMAND --- */
+ /* subscribe to ORB for vehicle command */
+ subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
+ fds[fdsc_count].fd = subs.cmd_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- GPS POSITION --- */
+ /* subscribe to ORB for global position */
+ subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+ fds[fdsc_count].fd = subs.gps_pos_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- SENSORS RAW VALUE --- */
+ /* subscribe to ORB for sensors raw */
+ subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
+ fds[fdsc_count].fd = subs.sensor_sub;
+ /* do not rate limit, instead use skip counter (aliasing on rate limit) */
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- ATTITUDE VALUE --- */
+ /* subscribe to ORB for attitude */
+ subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
+ fds[fdsc_count].fd = subs.att_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- ATTITUDE SETPOINT VALUE --- */
+ /* subscribe to ORB for attitude setpoint */
+ /* struct already allocated */
+ subs.spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
+ fds[fdsc_count].fd = subs.spa_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /** --- ACTUATOR OUTPUTS --- */
+ subs.act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
+ fds[fdsc_count].fd = subs.act_0_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- ACTUATOR CONTROL VALUE --- */
+ /* subscribe to ORB for actuator control */
+ subs.controls_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
+ fds[fdsc_count].fd = subs.controls_0_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- ACTUATOR CONTROL EFFECTIVE VALUE --- */
+ /* subscribe to ORB for actuator control */
+ subs.controls_effective_0_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
+ fds[fdsc_count].fd = subs.controls_effective_0_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- LOCAL POSITION --- */
+ /* subscribe to ORB for local position */
+ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
+ fds[fdsc_count].fd = subs.local_pos_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- GLOBAL POSITION --- */
+ /* subscribe to ORB for global position */
+ subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
+ fds[fdsc_count].fd = subs.global_pos_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- VICON POSITION --- */
+ /* subscribe to ORB for vicon position */
+ subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
+ fds[fdsc_count].fd = subs.vicon_pos_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- FLOW measurements --- */
+ /* subscribe to ORB for flow measurements */
+ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
+ fds[fdsc_count].fd = subs.flow_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- BATTERY STATUS --- */
+ /* subscribe to ORB for flow measurements */
+ subs.batt_sub = orb_subscribe(ORB_ID(battery_status));
+ fds[fdsc_count].fd = subs.batt_sub;
+ fds[fdsc_count].events = POLLIN;
+ fdsc_count++;
+
+ /* --- DIFFERENTIAL PRESSURE --- */
+ /* subscribe to ORB for flow measurements */
+ subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
+ fds[fdsc_count].fd = subs.diff_pres_sub;
+ 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.
+ */
+ if (fdsc_count > fdsc) {
+ warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
+ fdsc_count = fdsc;
+ }
+
+ /*
+ * set up poll to block for new data,
+ * wait for a maximum of 1000 ms (1 second)
+ */
+ // const int timeout = 1000;
+
+ thread_running = true;
+
+ /* initialize log buffer with a size of 10 */
+ sdlog_logbuffer_init(&lb, 10);
+
+ /* initialize thread synchronization */
+ pthread_mutex_init(&sysvector_mutex, NULL);
+ pthread_cond_init(&sysvector_cond, NULL);
+
+ /* start logbuffer emptying thread */
+ pthread_t sysvector_pthread = sysvector_write_start(&lb);
+
+ starttime = hrt_absolute_time();
+
+ /* track skipping */
+ int skip_count = 0;
+
+ while (!thread_should_exit) {
+
+ /* only poll for commands, gps and sensor_combined */
+ int poll_ret = poll(fds, 3, 1000);
+
+ /* handle the poll result */
+ if (poll_ret == 0) {
+ /* XXX this means none of our providers is giving us data - might be an error? */
+ } else if (poll_ret < 0) {
+ /* XXX this is seriously bad - should be an emergency */
+ } else {
+
+ int ifds = 0;
+
+ /* --- VEHICLE COMMAND VALUE --- */
+ if (fds[ifds++].revents & POLLIN) {
+ /* copy command into local buffer */
+ orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
+
+ /* always log to blackbox, even when logging disabled */
+ blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
+ buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
+ (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
+
+ handle_command(&buf.cmd);
+ }
+
+ /* --- VEHICLE GPS VALUE --- */
+ if (fds[ifds++].revents & POLLIN) {
+ /* copy gps position into local buffer */
+ orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+
+ /* if logging disabled, continue */
+ if (logging_enabled) {
+
+ /* write KML line */
+ }
+ }
+
+ /* --- SENSORS RAW VALUE --- */
+ if (fds[ifds++].revents & POLLIN) {
+
+ // /* copy sensors raw data into local buffer */
+ // orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+ // /* write out */
+ // sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
+
+ /* always copy sensors raw data into local buffer, since poll flags won't clear else */
+ orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
+ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
+ orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
+ orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
+ orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
+ orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
+ orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
+ orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
+ orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
+ 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_pres_sub, &buf.diff_pres);
+ 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 */
+ if (skip_count < skip_value || !logging_enabled) {
+ skip_count++;
+ /* do not log data */
+ continue;
+ } else {
+ /* log data, reset */
+ skip_count = 0;
+ }
+
+ struct sdlog_sysvector sysvect = {
+ .timestamp = buf.raw.timestamp,
+ .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
+ .accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
+ .mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
+ .baro = buf.raw.baro_pres_mbar,
+ .baro_alt = buf.raw.baro_alt_meter,
+ .baro_temp = buf.raw.baro_temp_celcius,
+ .control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
+ .actuators = {
+ buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
+ buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
+ },
+ .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], 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},
+ .rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
+ .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_pres.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 */
+ pthread_mutex_lock(&sysvector_mutex);
+ sdlog_logbuffer_write(&lb, &sysvect);
+ /* signal the other thread new data, but not yet unlock */
+ if ((unsigned)lb.count > (lb.size / 2)) {
+ /* only request write if several packets can be written at once */
+ pthread_cond_signal(&sysvector_cond);
+ }
+ /* unlock, now the writer thread may run */
+ pthread_mutex_unlock(&sysvector_mutex);
+ }
+
+ }
+
+ }
+
+ print_sdlog_status();
+
+ /* wake up write thread one last time */
+ pthread_mutex_lock(&sysvector_mutex);
+ pthread_cond_signal(&sysvector_cond);
+ /* unlock, now the writer thread may return */
+ pthread_mutex_unlock(&sysvector_mutex);
+
+ /* wait for write thread to return */
+ (void)pthread_join(sysvector_pthread, NULL);
+
+ pthread_mutex_destroy(&sysvector_mutex);
+ pthread_cond_destroy(&sysvector_cond);
+
+ warnx("exiting.\n\n");
+
+ /* finish KML file */
+ // XXX
+ fclose(gpsfile);
+ fclose(blackbox_file);
+
+ thread_running = false;
+
+ return 0;
+}
+
+void print_sdlog_status()
+{
+ unsigned bytes = sysvector_bytes + sensor_combined_bytes + actuator_outputs_bytes + blackbox_file_bytes + actuator_controls_bytes;
+ float mebibytes = bytes / 1024.0f / 1024.0f;
+ float seconds = ((float)(hrt_absolute_time() - starttime)) / 1000000.0f;
+
+ warnx("wrote %4.2f MiB (average %5.3f MiB/s).\n", (double)mebibytes, (double)(mebibytes / seconds));
+}
+
+/**
+ * @return 0 if file exists
+ */
+int file_exist(const char *filename)
+{
+ struct stat buffer;
+ return stat(filename, &buffer);
+}
+
+int file_copy(const char *file_old, const char *file_new)
+{
+ FILE *source, *target;
+ source = fopen(file_old, "r");
+ int ret = 0;
+
+ if (source == NULL) {
+ warnx("failed opening input file to copy");
+ return 1;
+ }
+
+ target = fopen(file_new, "w");
+
+ if (target == NULL) {
+ fclose(source);
+ warnx("failed to open output file to copy");
+ return 1;
+ }
+
+ char buf[128];
+ int nread;
+
+ while ((nread = fread(buf, 1, sizeof(buf), source)) > 0) {
+ int ret = fwrite(buf, 1, nread, target);
+
+ if (ret <= 0) {
+ warnx("error writing file");
+ ret = 1;
+ break;
+ }
+ }
+
+ fsync(fileno(target));
+
+ fclose(source);
+ fclose(target);
+
+ return ret;
+}
+
+void handle_command(struct vehicle_command_s *cmd)
+{
+ /* result of the command */
+ uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
+
+ /* request to set different system mode */
+ switch (cmd->command) {
+
+ case VEHICLE_CMD_PREFLIGHT_STORAGE:
+
+ if (((int)(cmd->param3)) == 1) {
+
+ /* enable logging */
+ mavlink_log_info(mavlink_fd, "[log] file:");
+ mavlink_log_info(mavlink_fd, "logdir");
+ logging_enabled = true;
+ }
+ if (((int)(cmd->param3)) == 0) {
+
+ /* disable logging */
+ mavlink_log_info(mavlink_fd, "[log] stopped.");
+ logging_enabled = false;
+ }
+ break;
+
+ default:
+ /* silently ignore */
+ break;
+ }
+
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-29 21:23:17 +0000