diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 16 |
1 files changed, 15 insertions, 1 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 9bde37432..af580f1f7 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -90,6 +90,7 @@ #include <uORB/topics/system_power.h> #include <uORB/topics/servorail_status.h> #include <uORB/topics/wind_estimate.h> +#include <uORB/topics/encoders.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -954,6 +955,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct servorail_status_s servorail_status; struct satellite_info_s sat_info; struct wind_estimate_s wind_estimate; + struct encoders_s encoders; } buf; memset(&buf, 0, sizeof(buf)); @@ -996,6 +998,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; struct log_WIND_s log_WIND; + struct log_ENCD_s log_ENCD; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1033,6 +1036,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int system_power_sub; int servorail_status_sub; int wind_sub; + int encoders_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1064,7 +1068,7 @@ int sdlog2_thread_main(int argc, char *argv[]) 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); - + subs.encoders_sub = orb_subscribe(ORB_ID(encoders)); /* add new topics HERE */ @@ -1667,6 +1671,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(WIND); } + /* --- ENCODERS --- */ + if (copy_if_updated(ORB_ID(encoders), subs.encoders_sub, &buf.encoders)) { + log_msg.msg_type = LOG_ENCD_MSG; + log_msg.body.log_ENCD.cnt0 = buf.encoders.counts[0]; + log_msg.body.log_ENCD.vel0 = buf.encoders.velocity[0]; + log_msg.body.log_ENCD.cnt1 = buf.encoders.counts[1]; + log_msg.body.log_ENCD.vel1 = buf.encoders.velocity[1]; + LOGBUFFER_WRITE_AND_COUNT(ENCD); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ |