diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 90460cc62..982f843be 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -685,6 +685,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_AIRS_s log_AIRS; struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; + struct log_GPOS_s log_GPOS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1056,7 +1057,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- GLOBAL POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - // TODO not implemented yet + log_msg.msg_type = LOG_GPOS_MSG; + log_msg.body.log_GPOS.lat = buf.global_pos.lat; + log_msg.body.log_GPOS.lon = buf.global_pos.lon; + log_msg.body.log_GPOS.alt = buf.global_pos.alt; + log_msg.body.log_GPOS.vel_n = buf.global_pos.vx; + log_msg.body.log_GPOS.vel_e = buf.global_pos.vy; + log_msg.body.log_GPOS.vel_d = buf.global_pos.vz; + LOGBUFFER_WRITE_AND_COUNT(GPOS); } /* --- VICON POSITION --- */ |