diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 16 |
1 files changed, 12 insertions, 4 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 8a07855c0..31da81f5c 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -2,7 +2,7 @@ * * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> - * Anton Babushkin <rk3dov@gmail.com> + * Anton Babushkin <anton.babushkin@me.com> * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -40,7 +40,7 @@ * does the heavy SD I/O in a low-priority worker thread. * * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <rk3dov@gmail.com> + * @author Anton Babushkin <anton.babushkin@me.com> */ #include <nuttx/config.h> @@ -239,7 +239,7 @@ int sdlog2_main(int argc, char *argv[]) } main_thread_should_exit = false; - deamon_task = task_spawn("sdlog2", + deamon_task = task_spawn_cmd("sdlog2", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT - 30, 3000, @@ -695,6 +695,7 @@ 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) @@ -1097,7 +1098,14 @@ 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 --- */ |