diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 59765415a..ec4197e79 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -76,6 +76,7 @@ #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/satellite_info.h> #include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vision_position_estimate.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> @@ -934,7 +935,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_position_s global_pos; struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; - struct vehicle_vision_position_s vision_pos; + struct vision_position_estimate_s vision_pos; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; @@ -1046,7 +1047,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - subs.vision_pos_sub = orb_subscribe(ORB_ID(vehicle_vision_position)); + subs.vision_pos_sub = orb_subscribe(ORB_ID(vision_position_estimate)); subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); @@ -1465,14 +1466,18 @@ int sdlog2_thread_main(int argc, char *argv[]) } /* --- VISION POSITION --- */ - if (copy_if_updated(ORB_ID(vehicle_vision_position), subs.vision_pos_sub, &buf.vision_pos)) { + if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) { log_msg.msg_type = LOG_VISN_MSG; log_msg.body.log_VISN.x = buf.vision_pos.x; log_msg.body.log_VISN.y = buf.vision_pos.y; log_msg.body.log_VISN.z = buf.vision_pos.z; - log_msg.body.log_VISN.pitch = buf.vision_pos.pitch; - log_msg.body.log_VISN.roll = buf.vision_pos.roll; - log_msg.body.log_VISN.yaw = buf.vision_pos.yaw; + log_msg.body.log_VISN.vx = buf.vision_pos.vx; + log_msg.body.log_VISN.vy = buf.vision_pos.vy; + log_msg.body.log_VISN.vz = buf.vision_pos.vz; + log_msg.body.log_VISN.qx = buf.vision_pos.q[0]; + log_msg.body.log_VISN.qy = buf.vision_pos.q[1]; + log_msg.body.log_VISN.qz = buf.vision_pos.q[2]; + log_msg.body.log_VISN.qw = buf.vision_pos.q[3]; LOGBUFFER_WRITE_AND_COUNT(VISN); } |