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-rw-r--r--src/modules/sdlog2/sdlog2.c447
1 files changed, 393 insertions, 54 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index b74d4183b..31861c3fc 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>
@@ -84,11 +85,14 @@
#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>
+#include <systemlib/perf_counter.h>
#include <version/version.h>
#include <mavlink/mavlink_log.h>
@@ -97,6 +101,36 @@
#include "sdlog2_format.h"
#include "sdlog2_messages.h"
+/**
+ * Logging rate.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 sets the minimum rate,
+ * any other value is interpreted as rate in Hertz. This
+ * parameter is only read out before logging starts (which
+ * commonly is before arming).
+ *
+ * @min -1
+ * @max 1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_RATE, -1);
+
+/**
+ * Enable extended logging mode.
+ *
+ * A value of -1 indicates the commandline argument
+ * should be obeyed. A value of 0 disables extended
+ * logging mode, a value of 1 enables it. This
+ * parameter is only read out before logging starts
+ * (which commonly is before arming).
+ *
+ * @min -1
+ * @max 1
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_EXT, -1);
+
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
@@ -108,16 +142,20 @@
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 */
static bool logwriter_should_exit = false; /**< Logwriter thread exit flag */
-static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
-static const int MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
+static const unsigned MAX_NO_LOGFOLDER = 999; /**< Maximum number of log dirs */
+static const unsigned MAX_NO_LOGFILE = 999; /**< Maximum number of log files */
static const int LOG_BUFFER_SIZE_DEFAULT = 8192;
static const int MAX_WRITE_CHUNK = 512;
static const int MIN_BYTES_TO_WRITE = 512;
+static bool _extended_logging = false;
+
static const char *log_root = "/fs/microsd/log";
static int mavlink_fd = -1;
struct logbuffer_s lb;
@@ -218,6 +256,8 @@ static int create_log_dir(void);
*/
static int open_log_file(void);
+static int open_perf_file(const char* str);
+
static void
sdlog2_usage(const char *reason)
{
@@ -225,12 +265,13 @@ sdlog2_usage(const char *reason)
fprintf(stderr, "%s\n", reason);
}
- errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
+ errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t -x\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
"\t-b\tLog buffer size in KiB, default is 8\n"
"\t-e\tEnable logging by default (if not, can be started by command)\n"
"\t-a\tLog only when armed (can be still overriden by command)\n"
- "\t-t\tUse date/time for naming log directories and files\n");
+ "\t-t\tUse date/time for naming log directories and files\n"
+ "\t-x\tExtended logging");
}
/**
@@ -349,8 +390,8 @@ int create_log_dir()
int open_log_file()
{
/* string to hold the path to the log */
- char log_file_name[16] = "";
- char log_file_path[48] = "";
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
if (log_name_timestamp && gps_time != 0) {
/* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
@@ -378,7 +419,7 @@ int open_log_file()
if (file_number > MAX_NO_LOGFILE) {
/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
- warnx("all %d possible files exist already", MAX_NO_LOGFILE);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
return -1;
}
}
@@ -387,7 +428,58 @@ int open_log_file()
if (fd < 0) {
warn("failed opening log: %s", log_file_name);
- mavlink_log_info(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
+
+ } else {
+ warnx("log file: %s", log_file_name);
+ mavlink_log_info(mavlink_fd, "[sdlog2] log file: %s", log_file_name);
+ }
+
+ return fd;
+}
+
+int open_perf_file(const char* str)
+{
+ /* string to hold the path to the log */
+ char log_file_name[32] = "";
+ char log_file_path[64] = "";
+
+ if (log_name_timestamp && gps_time != 0) {
+ /* use GPS time for log file naming, e.g. /fs/microsd/2014-01-19/19_37_52.bin */
+ time_t gps_time_sec = gps_time / 1000000;
+ struct tm t;
+ gmtime_r(&gps_time_sec, &t);
+ strftime(log_file_name, sizeof(log_file_name), "perf%H_%M_%S.txt", &t);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ } else {
+ unsigned file_number = 1; // start with file log001
+
+ /* look for the next file that does not exist */
+ while (file_number <= MAX_NO_LOGFILE) {
+ /* format log file path: e.g. /fs/microsd/sess001/log001.bin */
+ snprintf(log_file_name, sizeof(log_file_name), "perf%03u.txt", file_number);
+ snprintf(log_file_path, sizeof(log_file_path), "%s/%s_%s", log_dir, str, log_file_name);
+
+ if (!file_exist(log_file_path)) {
+ break;
+ }
+
+ file_number++;
+ }
+
+ if (file_number > MAX_NO_LOGFILE) {
+ /* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
+ mavlink_log_critical(mavlink_fd, "[sdlog2] ERR: max files %d", MAX_NO_LOGFILE);
+ return -1;
+ }
+ }
+
+ int fd = open(log_file_path, O_CREAT | O_WRONLY | O_DSYNC);
+
+ if (fd < 0) {
+ warn("failed opening log: %s", log_file_name);
+ mavlink_log_critical(mavlink_fd, "[sdlog2] failed opening log: %s", log_file_name);
} else {
warnx("log file: %s", log_file_name);
@@ -529,6 +621,12 @@ void sdlog2_start_log()
errx(1, "error creating logwriter thread");
}
+ /* write all performance counters */
+ int perf_fd = open_perf_file("preflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS PRE-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
logging_enabled = true;
}
@@ -556,6 +654,12 @@ void sdlog2_stop_log()
logwriter_pthread = 0;
pthread_attr_destroy(&logwriter_attr);
+ /* write all performance counters */
+ int perf_fd = open_perf_file("postflight");
+ dprintf(perf_fd, "PERFORMANCE COUNTERS POST-FLIGHT\n\n");
+ perf_print_all(perf_fd);
+ close(perf_fd);
+
sdlog2_status();
}
@@ -572,7 +676,7 @@ int write_formats(int fd)
int written = 0;
/* fill message format packet for each format and write it */
- for (int i = 0; i < log_formats_num; i++) {
+ for (unsigned i = 0; i < log_formats_num; i++) {
log_msg_format.body = log_formats[i];
written += write(fd, &log_msg_format, sizeof(log_msg_format));
}
@@ -679,12 +783,12 @@ int sdlog2_thread_main(int argc, char *argv[])
* set error flag instead */
bool err_flag = false;
- while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
+ while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
- if (r <= 0) {
+ if (r == 0) {
r = 1;
}
@@ -715,6 +819,10 @@ int sdlog2_thread_main(int argc, char *argv[])
log_name_timestamp = true;
break;
+ case 'x':
+ _extended_logging = true;
+ break;
+
case '?':
if (optopt == 'c') {
warnx("option -%c requires an argument", optopt);
@@ -741,6 +849,44 @@ int sdlog2_thread_main(int argc, char *argv[])
gps_time = 0;
+ /* interpret logging params */
+
+ param_t log_rate_ph = param_find("SDLOG_RATE");
+
+ if (log_rate_ph != PARAM_INVALID) {
+ int32_t param_log_rate;
+ param_get(log_rate_ph, &param_log_rate);
+
+ if (param_log_rate > 0) {
+
+ /* we can't do more than ~ 500 Hz, even with a massive buffer */
+ if (param_log_rate > 500) {
+ param_log_rate = 500;
+ }
+
+ sleep_delay = 1000000 / param_log_rate;
+ } else if (param_log_rate == 0) {
+ /* we need at minimum 10 Hz to be able to see anything */
+ sleep_delay = 1000000 / 10;
+ }
+ }
+
+ param_t log_ext_ph = param_find("SDLOG_EXT");
+
+ if (log_ext_ph != PARAM_INVALID) {
+
+ int32_t param_log_extended;
+ param_get(log_ext_ph, &param_log_extended);
+
+ if (param_log_extended > 0) {
+ _extended_logging = true;
+ } else if (param_log_extended == 0) {
+ _extended_logging = false;
+ }
+ /* any other value means to ignore the parameter, so no else case */
+
+ }
+
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
@@ -798,8 +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));
@@ -830,10 +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)
@@ -855,6 +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;
@@ -862,16 +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));
@@ -889,11 +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;
@@ -907,12 +1073,21 @@ int sdlog2_thread_main(int argc, char *argv[])
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
+ hrt_abstime gyro1_timestamp = 0;
+ hrt_abstime accelerometer1_timestamp = 0;
+ hrt_abstime magnetometer1_timestamp = 0;
+ hrt_abstime gyro2_timestamp = 0;
+ hrt_abstime accelerometer2_timestamp = 0;
+ hrt_abstime magnetometer2_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;
}
}
@@ -960,20 +1135,21 @@ 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;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
- /* --- GPS POSITION --- */
+ /* --- GPS POSITION - UNIT #1 --- */
if (gps_pos_updated) {
+
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;
@@ -981,12 +1157,66 @@ 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_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)) {
+
+ /* log the SNR of each satellite for a detailed view of signal quality */
+ 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));
+ 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.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.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 < sat_info_count; i++) {
+
+ /* get second bank of satellites, thus deduct bank size from index */
+ 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.sat_info.snr[i];
+ }
+ }
+ LOGBUFFER_WRITE_AND_COUNT(GS0B);
+ }
+ }
+
/* --- SENSOR COMBINED --- */
if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
bool write_IMU = false;
+ bool write_IMU1 = false;
+ bool write_IMU2 = false;
bool write_SENS = false;
if (buf.sensor.timestamp != gyro_timestamp) {
@@ -1038,6 +1268,64 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
+ if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
+ accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
+ write_IMU1 = true;
+ }
+
+ if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
+ gyro1_timestamp = buf.sensor.gyro1_timestamp;
+ write_IMU1 = true;
+ }
+
+ if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
+ magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
+ write_IMU1 = true;
+ }
+
+ if (write_IMU1) {
+ log_msg.msg_type = LOG_IMU1_MSG;
+ log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
+ log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
+ log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
+ log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
+ log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
+ log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
+ log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
+ log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
+ log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
+ LOGBUFFER_WRITE_AND_COUNT(IMU);
+ }
+
+ if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
+ accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
+ write_IMU2 = true;
+ }
+
+ if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
+ gyro2_timestamp = buf.sensor.gyro2_timestamp;
+ write_IMU2 = true;
+ }
+
+ if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
+ magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
+ write_IMU2 = true;
+ }
+
+ if (write_IMU2) {
+ log_msg.msg_type = LOG_IMU2_MSG;
+ log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
+ log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
+ log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
+ log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
+ log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
+ log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
+ log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
+ log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
+ log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
+ LOGBUFFER_WRITE_AND_COUNT(IMU);
+ }
+
}
/* --- ATTITUDE --- */
@@ -1105,10 +1393,16 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
- log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
- log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
+ log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
+ (buf.local_pos.z_valid ? 2 : 0) |
+ (buf.local_pos.v_xy_valid ? 4 : 0) |
+ (buf.local_pos.v_z_valid ? 8 : 0) |
+ (buf.local_pos.xy_global ? 16 : 0) |
+ (buf.local_pos.z_global ? 32 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
+ log_msg.body.log_LPOS.eph = buf.local_pos.eph;
+ log_msg.body.log_LPOS.epv = buf.local_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
@@ -1138,17 +1432,20 @@ 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.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;
- log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
- log_msg.body.log_GPSP.type = buf.triplet.current.type;
- 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.pitch_min = buf.triplet.current.pitch_min;
- LOGBUFFER_WRITE_AND_COUNT(GPSP);
+
+ if (buf.triplet.current.valid) {
+ log_msg.msg_type = LOG_GPSP_MSG;
+ log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
+ 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;
+ log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
+ log_msg.body.log_GPSP.type = buf.triplet.current.type;
+ 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.pitch_min = buf.triplet.current.pitch_min;
+ LOGBUFFER_WRITE_AND_COUNT(GPSP);
+ }
}
/* --- VICON POSITION --- */
@@ -1180,8 +1477,8 @@ 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);
}
@@ -1253,16 +1550,19 @@ 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 --- */
@@ -1276,15 +1576,53 @@ 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.altitudeFiltered = buf.tecs_status.altitudeFiltered;
+ 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 */
@@ -1320,6 +1658,7 @@ void sdlog2_status()
float seconds = ((float)(hrt_absolute_time() - start_time)) / 1000000.0f;
warnx("wrote %lu msgs, %4.2f MiB (average %5.3f KiB/s), skipped %lu msgs", log_msgs_written, (double)mebibytes, (double)(kibibytes / seconds), log_msgs_skipped);
+ warnx("extended logging: %s", (_extended_logging) ? "ON" : "OFF");
mavlink_log_info(mavlink_fd, "[sdlog2] wrote %lu msgs, skipped %lu msgs", log_msgs_written, log_msgs_skipped);
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-01 03:04:03 +0000