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Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r--src/modules/sdlog2/sdlog2.c163
1 files changed, 115 insertions, 48 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 577cadfbb..0d36fa2c6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -74,6 +74,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/satellite_info.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -84,8 +85,10 @@
#include <uORB/topics/esc_status.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/estimator_status.h>
+#include <uORB/topics/tecs_status.h>
#include <uORB/topics/system_power.h>
#include <uORB/topics/servorail_status.h>
+#include <uORB/topics/wind_estimate.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
@@ -139,6 +142,8 @@ PARAM_DEFINE_INT32(SDLOG_EXT, -1);
fds[fdsc_count].events = POLLIN; \
fdsc_count++;
+#define MIN(X,Y) ((X) < (Y) ? (X) : (Y))
+
static bool main_thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
@@ -939,8 +944,11 @@ int sdlog2_thread_main(int argc, char *argv[])
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
struct estimator_status_report estimator_status;
+ struct tecs_status_s tecs_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
+ struct satellite_info_s sat_info;
+ struct wind_estimate_s wind_estimate;
} buf;
memset(&buf, 0, sizeof(buf));
@@ -971,14 +979,17 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
- struct log_TELE_s log_TELE;
- struct log_ESTM_s log_ESTM;
+ struct log_TEL_s log_TEL;
+ struct log_EST0_s log_EST0;
+ struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GS0A_s log_GS0A;
struct log_GS0B_s log_GS0B;
struct log_GS1A_s log_GS1A;
struct log_GS1B_s log_GS1B;
+ struct log_TECS_s log_TECS;
+ struct log_WIND_s log_WIND;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -1000,6 +1011,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
+ int sat_info_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
@@ -1007,16 +1019,19 @@ int sdlog2_thread_main(int argc, char *argv[])
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
- int telemetry_sub;
+ int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
int range_finder_sub;
int estimator_status_sub;
+ int tecs_status_sub;
int system_power_sub;
int servorail_status_sub;
+ int wind_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
+ subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
@@ -1034,11 +1049,17 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
- subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
+ for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+ subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+ }
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
+ subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
+ subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate));
+ /* we need to rate-limit wind, as we do not need the full update rate */
+ orb_set_interval(subs.wind_sub, 90);
thread_running = true;
@@ -1053,11 +1074,14 @@ int sdlog2_thread_main(int argc, char *argv[])
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
+ /* initialize calculated mean SNR */
+ float snr_mean = 0.0f;
+
/* enable logging on start if needed */
if (log_on_start) {
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
- if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
+ if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_gps_usec;
}
}
@@ -1105,7 +1129,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
- log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state;
+ log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
@@ -1115,19 +1139,11 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
- float snr_mean = 0.0f;
-
- for (unsigned i = 0; i < buf_gps_pos.satellites_visible; i++) {
- snr_mean += buf_gps_pos.satellite_snr[i];
- }
-
- snr_mean /= buf_gps_pos.satellites_visible;
-
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
- log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
- log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
+ log_msg.body.log_GPS.eph = buf_gps_pos.eph;
+ log_msg.body.log_GPS.epv = buf_gps_pos.epv;
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
@@ -1135,44 +1151,55 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
- log_msg.body.log_GPS.sats = buf_gps_pos.satellites_visible;
+ log_msg.body.log_GPS.sats = buf_gps_pos.satellites_used;
log_msg.body.log_GPS.snr_mean = snr_mean;
log_msg.body.log_GPS.noise_per_ms = buf_gps_pos.noise_per_ms;
log_msg.body.log_GPS.jamming_indicator = buf_gps_pos.jamming_indicator;
LOGBUFFER_WRITE_AND_COUNT(GPS);
+ }
+
+ /* --- SATELLITE INFO - UNIT #1 --- */
+ if (_extended_logging) {
+
+ if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) {
- if (_extended_logging) {
/* log the SNR of each satellite for a detailed view of signal quality */
- unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
+ unsigned sat_info_count = MIN(buf.sat_info.count, sizeof(buf.sat_info.snr) / sizeof(buf.sat_info.snr[0]));
unsigned log_max_snr = sizeof(log_msg.body.log_GS0A.satellite_snr) / sizeof(log_msg.body.log_GS0A.satellite_snr[0]);
log_msg.msg_type = LOG_GS0A_MSG;
memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A));
- /* fill set A */
- for (unsigned i = 0; i < gps_msg_max_snr; i++) {
+ snr_mean = 0.0f;
+
+ /* fill set A and calculate mean SNR */
+ for (unsigned i = 0; i < sat_info_count; i++) {
+
+ snr_mean += buf.sat_info.snr[i];
- int satindex = buf_gps_pos.satellite_prn[i] - 1;
+ int satindex = buf.sat_info.svid[i] - 1;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
- log_msg.body.log_GS0A.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
+ log_msg.body.log_GS0A.satellite_snr[satindex] = buf.sat_info.snr[i];
}
}
LOGBUFFER_WRITE_AND_COUNT(GS0A);
+ snr_mean /= sat_info_count;
log_msg.msg_type = LOG_GS0B_MSG;
memset(&log_msg.body.log_GS0B, 0, sizeof(log_msg.body.log_GS0B));
+
/* fill set B */
- for (unsigned i = 0; i < gps_msg_max_snr; i++) {
+ for (unsigned i = 0; i < sat_info_count; i++) {
/* get second bank of satellites, thus deduct bank size from index */
- int satindex = buf_gps_pos.satellite_prn[i] - 1 - log_max_snr;
+ int satindex = buf.sat_info.svid[i] - 1 - log_max_snr;
/* handles index exceeding and wraps to to arithmetic errors */
if ((satindex >= 0) && (satindex < (int)log_max_snr)) {
/* map satellites by their ID so that logs from two receivers can be compared */
- log_msg.body.log_GS0B.satellite_snr[satindex] = buf_gps_pos.satellite_snr[i];
+ log_msg.body.log_GS0B.satellite_snr[satindex] = buf.sat_info.snr[i];
}
}
LOGBUFFER_WRITE_AND_COUNT(GS0B);
@@ -1340,7 +1367,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
- log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+ log_msg.body.log_GPSP.nav_state = 0; /* TODO: Fix this */
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
@@ -1381,8 +1408,8 @@ int sdlog2_thread_main(int argc, char *argv[])
if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
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;
+ memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
+ log_msg.body.log_RC.channel_count = buf.rc.channel_count;
log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
LOGBUFFER_WRITE_AND_COUNT(RC);
}
@@ -1454,16 +1481,19 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
- if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
- log_msg.msg_type = LOG_TELE_MSG;
- log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
- log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
- log_msg.body.log_TELE.noise = buf.telemetry.noise;
- log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
- log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
- log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
- log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
- LOGBUFFER_WRITE_AND_COUNT(TELE);
+ for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+ if (copy_if_updated(telemetry_status_orb_id[i], subs.telemetry_subs[i], &buf.telemetry)) {
+ log_msg.msg_type = LOG_TEL0_MSG + i;
+ log_msg.body.log_TEL.rssi = buf.telemetry.rssi;
+ log_msg.body.log_TEL.remote_rssi = buf.telemetry.remote_rssi;
+ log_msg.body.log_TEL.noise = buf.telemetry.noise;
+ log_msg.body.log_TEL.remote_noise = buf.telemetry.remote_noise;
+ log_msg.body.log_TEL.rxerrors = buf.telemetry.rxerrors;
+ log_msg.body.log_TEL.fixed = buf.telemetry.fixed;
+ log_msg.body.log_TEL.txbuf = buf.telemetry.txbuf;
+ log_msg.body.log_TEL.heartbeat_time = buf.telemetry.heartbeat_time;
+ LOGBUFFER_WRITE_AND_COUNT(TEL);
+ }
}
/* --- BOTTOM DISTANCE --- */
@@ -1477,15 +1507,52 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ESTIMATOR STATUS --- */
if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
- log_msg.msg_type = LOG_ESTM_MSG;
- unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
- memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
- memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
- log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
- log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
- log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
- log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
- LOGBUFFER_WRITE_AND_COUNT(ESTM);
+ log_msg.msg_type = LOG_EST0_MSG;
+ unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
+ memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
+ memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
+ log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
+ log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
+ log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
+ log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
+ LOGBUFFER_WRITE_AND_COUNT(EST0);
+
+ log_msg.msg_type = LOG_EST1_MSG;
+ unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
+ memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
+ memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
+ LOGBUFFER_WRITE_AND_COUNT(EST1);
+ }
+
+ /* --- TECS STATUS --- */
+ if (copy_if_updated(ORB_ID(tecs_status), subs.tecs_status_sub, &buf.tecs_status)) {
+ log_msg.msg_type = LOG_TECS_MSG;
+ log_msg.body.log_TECS.altitudeSp = buf.tecs_status.altitudeSp;
+ log_msg.body.log_TECS.altitude = buf.tecs_status.altitude;
+ log_msg.body.log_TECS.flightPathAngleSp = buf.tecs_status.flightPathAngleSp;
+ log_msg.body.log_TECS.flightPathAngle = buf.tecs_status.flightPathAngle;
+ log_msg.body.log_TECS.flightPathAngleFiltered = buf.tecs_status.flightPathAngleFiltered;
+ log_msg.body.log_TECS.airspeedSp = buf.tecs_status.airspeedSp;
+ log_msg.body.log_TECS.airspeed = buf.tecs_status.airspeed;
+ log_msg.body.log_TECS.airspeedFiltered = buf.tecs_status.airspeedFiltered;
+ log_msg.body.log_TECS.airspeedDerivativeSp = buf.tecs_status.airspeedDerivativeSp;
+ log_msg.body.log_TECS.airspeedDerivative = buf.tecs_status.airspeedDerivative;
+ log_msg.body.log_TECS.totalEnergyRateSp = buf.tecs_status.totalEnergyRateSp;
+ log_msg.body.log_TECS.totalEnergyRate = buf.tecs_status.totalEnergyRate;
+ log_msg.body.log_TECS.energyDistributionRateSp = buf.tecs_status.energyDistributionRateSp;
+ log_msg.body.log_TECS.energyDistributionRate = buf.tecs_status.energyDistributionRate;
+ log_msg.body.log_TECS.mode = (uint8_t)buf.tecs_status.mode;
+ LOGBUFFER_WRITE_AND_COUNT(TECS);
+ }
+
+ /* --- WIND ESTIMATE --- */
+ if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) {
+ log_msg.msg_type = LOG_WIND_MSG;
+ log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north;
+ log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east;
+ log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north;
+ log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east;
+ LOGBUFFER_WRITE_AND_COUNT(WIND);
}
/* signal the other thread new data, but not yet unlock */
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-13 12:38:59 +0000