diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 59 |
1 files changed, 23 insertions, 36 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index f94875d5b..5dc325a05 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -68,12 +68,11 @@ #include <uORB/topics/vehicle_rates_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_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/mission_item_triplet.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_global_velocity_setpoint.h> @@ -691,11 +690,10 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_rates_setpoint_s rates_sp; struct actuator_outputs_s act_outputs; struct actuator_controls_s act_controls; - struct actuator_controls_effective_s act_controls_effective; struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; - struct vehicle_global_position_setpoint_s global_pos_sp; + struct mission_item_triplet_s triplet; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; @@ -717,11 +715,10 @@ int sdlog2_thread_main(int argc, char *argv[]) int rates_sp_sub; int act_outputs_sub; int act_controls_sub; - int act_controls_effective_sub; int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; - int global_pos_sp_sub; + int triplet_sub; int gps_pos_sub; int vicon_pos_sub; int flow_sub; @@ -763,9 +760,9 @@ int sdlog2_thread_main(int argc, char *argv[]) memset(&log_msg.body, 0, sizeof(log_msg.body)); /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 20; - /* Sanity check variable and index */ + /* number of subscriptions */ + const ssize_t fdsc = 19; + /* sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ struct pollfd fds[fdsc]; @@ -824,12 +821,6 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE); - fds[fdsc_count].fd = subs.act_controls_effective_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); fds[fdsc_count].fd = subs.local_pos_sub; @@ -849,8 +840,8 @@ int sdlog2_thread_main(int argc, char *argv[]) fdsc_count++; /* --- GLOBAL POSITION SETPOINT--- */ - subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - fds[fdsc_count].fd = subs.global_pos_sp_sub; + subs.triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet)); + fds[fdsc_count].fd = subs.triplet_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; @@ -1114,12 +1105,6 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ATTC); } - /* --- ACTUATOR CONTROL EFFECTIVE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective); - // TODO not implemented yet - } - /* --- LOCAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); @@ -1165,20 +1150,21 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION SETPOINT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); + orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet); log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; - log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; - log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; - log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; - log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; - log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; - log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; - log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; - log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; - log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; - log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; + log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative; + log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7); + log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7); + log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude; + log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw; + log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction; + log_msg.body.log_GPSP.radius = buf.triplet.current.radius; + log_msg.body.log_GPSP.time_inside = buf.triplet.current.time_inside; + log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min; LOGBUFFER_WRITE_AND_COUNT(GPSP); } @@ -1208,6 +1194,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_RC_MSG; /* Copy only the first 8 channels of 14 */ memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel)); + log_msg.body.log_RC.channel_count = buf.rc.chan_count; LOGBUFFER_WRITE_AND_COUNT(RC); } |