diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 1232 |
1 files changed, 726 insertions, 506 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c4fafb5a6..0d36fa2c6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1,8 +1,6 @@ /**************************************************************************** * * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * 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 @@ -60,6 +58,8 @@ #include <drivers/drv_hrt.h> #include <math.h> +#include <drivers/drv_range_finder.h> + #include <uORB/uORB.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/sensor_combined.h> @@ -72,8 +72,9 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_global_position_setpoint.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> @@ -82,9 +83,16 @@ #include <uORB/topics/airspeed.h> #include <uORB/topics/rc_channels.h> #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> @@ -93,6 +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 { \ @@ -104,16 +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; @@ -135,12 +177,6 @@ static uint64_t gps_time = 0; /* current state of logging */ static bool logging_enabled = false; -/* enable logging on start (-e option) */ -static bool log_on_start = false; -/* enable logging when armed (-a option) */ -static bool log_when_armed = false; -/* delay = 1 / rate (rate defined by -r option) */ -static useconds_t sleep_delay = 0; /* use date/time for naming directories and files (-t option) */ static bool log_name_timestamp = false; @@ -160,6 +196,8 @@ static void *logwriter_thread(void *arg); */ __EXPORT int sdlog2_main(int argc, char *argv[]); +static bool copy_if_updated(orb_id_t topic, int handle, void *buffer); + /** * Mainloop of sd log deamon. */ @@ -218,18 +256,22 @@ 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) { - if (reason) + if (reason) { fprintf(stderr, "%s\n", reason); + } - errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\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"); + 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-x\tExtended logging"); } /** @@ -242,8 +284,9 @@ sdlog2_usage(const char *reason) */ int sdlog2_main(int argc, char *argv[]) { - if (argc < 2) + if (argc < 2) { sdlog2_usage("missing command"); + } if (!strcmp(argv[1], "start")) { @@ -255,11 +298,11 @@ int sdlog2_main(int argc, char *argv[]) main_thread_should_exit = false; deamon_task = task_spawn_cmd("sdlog2", - SCHED_DEFAULT, - SCHED_PRIORITY_DEFAULT - 30, - 3000, - sdlog2_thread_main, - (const char **)argv); + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT - 30, + 3000, + sdlog2_thread_main, + (const char **)argv); exit(0); } @@ -347,8 +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 */ @@ -376,7 +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; } } @@ -385,7 +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); @@ -402,22 +496,29 @@ static void *logwriter_thread(void *arg) int log_fd = open_log_file(); - if (log_fd < 0) - return; + if (log_fd < 0) { + return NULL; + } struct logbuffer_s *logbuf = (struct logbuffer_s *)arg; /* write log messages formats, version and parameters */ log_bytes_written += write_formats(log_fd); + log_bytes_written += write_version(log_fd); + log_bytes_written += write_parameters(log_fd); + fsync(log_fd); int poll_count = 0; void *read_ptr; + int n = 0; + bool should_wait = false; + bool is_part = false; while (true) { @@ -483,7 +584,7 @@ static void *logwriter_thread(void *arg) fsync(log_fd); close(log_fd); - return; + return NULL; } void sdlog2_start_log() @@ -520,6 +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; } @@ -547,6 +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(); } @@ -563,7 +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)); } @@ -628,6 +741,19 @@ int write_parameters(int fd) return written; } +bool copy_if_updated(orb_id_t topic, int handle, void *buffer) +{ + bool updated; + + orb_check(handle, &updated); + + if (updated) { + orb_copy(topic, handle, buffer); + } + + return updated; +} + int sdlog2_thread_main(int argc, char *argv[]) { mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); @@ -636,12 +762,14 @@ int sdlog2_thread_main(int argc, char *argv[]) warnx("failed to open MAVLink log stream, start mavlink app first"); } - /* log buffer size */ + /* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */ + useconds_t sleep_delay = 20000; int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT; - logging_enabled = false; - log_on_start = false; - log_when_armed = false; + /* enable logging on start (-e option) */ + bool log_on_start = false; + /* enable logging when armed (-a option) */ + bool log_when_armed = false; log_name_timestamp = false; flag_system_armed = false; @@ -651,17 +779,20 @@ int sdlog2_thread_main(int argc, char *argv[]) argv += 2; int ch; - while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) { + /* don't exit from getopt loop to leave getopt global variables in consistent state, + * set error flag instead */ + bool err_flag = false; + + while ((ch = getopt(argc, argv, "r:b:eatx")) != EOF) { switch (ch) { case 'r': { unsigned long r = strtoul(optarg, NULL, 10); if (r == 0) { - sleep_delay = 0; - - } else { - sleep_delay = 1000000 / r; + r = 1; } + + sleep_delay = 1000000 / r; } break; @@ -688,6 +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); @@ -698,20 +833,65 @@ int sdlog2_thread_main(int argc, char *argv[]) } else { warnx("unknown option character `\\x%x'", optopt); } + err_flag = true; + break; default: - sdlog2_usage("unrecognized flag"); - errx(1, "exiting"); + warnx("unrecognized flag"); + err_flag = true; + break; } } + if (err_flag) { + sdlog2_usage(NULL); + } + 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, ¶m_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, ¶m_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); if (mkdir_ret != 0 && errno != EEXIST) { - err("failed creating log root dir: %s", log_root); + err(1, "failed creating log root dir: %s", log_root); } /* copy conversion scripts */ @@ -734,8 +914,12 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_status_s buf_status; + struct vehicle_gps_position_s buf_gps_pos; + memset(&buf_status, 0, sizeof(buf_status)); + memset(&buf_gps_pos, 0, sizeof(buf_gps_pos)); + /* warning! using union here to save memory, elements should be used separately! */ union { struct vehicle_command_s cmd; @@ -748,8 +932,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; - struct vehicle_global_position_setpoint_s global_pos_sp; - struct vehicle_gps_position_s gps_pos; + struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct rc_channels_s rc; @@ -758,33 +941,18 @@ int sdlog2_thread_main(int argc, char *argv[]) struct esc_status_s esc; struct vehicle_global_velocity_setpoint_s global_vel_sp; struct battery_status_s battery; + 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)); - struct { - int cmd_sub; - int status_sub; - int sensor_sub; - int att_sub; - int att_sp_sub; - int rates_sp_sub; - int act_outputs_sub; - int act_controls_sub; - int local_pos_sub; - int local_pos_sp_sub; - int global_pos_sub; - int global_pos_sp_sub; - int gps_pos_sub; - int vicon_pos_sub; - int flow_sub; - int rc_sub; - int airspeed_sub; - int esc_sub; - int global_vel_sp_sub; - int battery_sub; - } subs; - /* log message buffer: header + body */ #pragma pack(push, 1) struct { @@ -810,6 +978,18 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_ESC_s log_ESC; struct log_GVSP_s log_GVSP; struct log_BATT_s log_BATT; + struct log_DIST_s log_DIST; + 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) @@ -817,148 +997,69 @@ int sdlog2_thread_main(int argc, char *argv[]) #pragma pack(pop) memset(&log_msg.body, 0, sizeof(log_msg.body)); - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 25; - /* Sanity check variable and index */ - ssize_t fdsc_count = 0; - /* file descriptors to wait for */ - struct pollfd fds[fdsc]; + struct { + int cmd_sub; + int status_sub; + int sensor_sub; + int att_sub; + int att_sp_sub; + int rates_sp_sub; + int act_outputs_sub; + int act_controls_sub; + int local_pos_sub; + int local_pos_sp_sub; + 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; + int airspeed_sub; + int esc_sub; + int global_vel_sp_sub; + int battery_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; - /* --- VEHICLE COMMAND --- */ subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - fds[fdsc_count].fd = subs.cmd_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VEHICLE STATUS --- */ subs.status_sub = orb_subscribe(ORB_ID(vehicle_status)); - fds[fdsc_count].fd = subs.status_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GPS POSITION --- */ subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - fds[fdsc_count].fd = subs.gps_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- SENSORS COMBINED --- */ + subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - fds[fdsc_count].fd = subs.sensor_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE --- */ subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - fds[fdsc_count].fd = subs.att_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ATTITUDE SETPOINT --- */ subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - fds[fdsc_count].fd = subs.att_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- RATES SETPOINT --- */ subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - fds[fdsc_count].fd = subs.rates_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR OUTPUTS --- */ subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS); - fds[fdsc_count].fd = subs.act_outputs_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ACTUATOR CONTROL --- */ subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - fds[fdsc_count].fd = subs.act_controls_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION --- */ subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position)); - fds[fdsc_count].fd = subs.local_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- LOCAL POSITION SETPOINT --- */ subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint)); - fds[fdsc_count].fd = subs.local_pos_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION --- */ subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); - fds[fdsc_count].fd = subs.global_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL POSITION SETPOINT--- */ - subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); - fds[fdsc_count].fd = subs.global_pos_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- VICON POSITION --- */ + subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); - fds[fdsc_count].fd = subs.vicon_pos_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- OPTICAL FLOW --- */ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); - fds[fdsc_count].fd = subs.flow_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- RC CHANNELS --- */ subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); - fds[fdsc_count].fd = subs.rc_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- AIRSPEED --- */ subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); - fds[fdsc_count].fd = subs.airspeed_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- ESCs --- */ subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); - fds[fdsc_count].fd = subs.esc_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- GLOBAL VELOCITY SETPOINT --- */ subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint)); - fds[fdsc_count].fd = subs.global_vel_sp_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* --- BATTERY --- */ subs.battery_sub = orb_subscribe(ORB_ID(battery_status)); - fds[fdsc_count].fd = subs.battery_sub; - fds[fdsc_count].events = POLLIN; - fdsc_count++; - - /* WARNING: If you get the error message below, - * then the number of registered messages (fdsc) - * differs from the number of messages in the above list. - */ - if (fdsc_count > fdsc) { - warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__); - fdsc_count = fdsc; + for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) { + subs.telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]); } - - /* - * set up poll to block for new data, - * wait for a maximum of 1000 ms - */ - const int poll_timeout = 1000; + 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; @@ -967,18 +1068,21 @@ int sdlog2_thread_main(int argc, char *argv[]) pthread_cond_init(&logbuffer_cond, NULL); /* track changes in sensor_combined topic */ - uint16_t gyro_counter = 0; - uint16_t accelerometer_counter = 0; - uint16_t magnetometer_counter = 0; - uint16_t baro_counter = 0; - uint16_t differential_pressure_counter = 0; + hrt_abstime gyro_timestamp = 0; + hrt_abstime accelerometer_timestamp = 0; + hrt_abstime magnetometer_timestamp = 0; + 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 (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) { - gps_time = buf.gps_pos.time_gps_usec; + if (!orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) { + gps_time = buf_gps_pos.time_gps_usec; } } @@ -986,367 +1090,484 @@ int sdlog2_thread_main(int argc, char *argv[]) } while (!main_thread_should_exit) { - /* decide use usleep() or blocking poll() */ - bool use_sleep = sleep_delay > 0 && logging_enabled; - - /* poll all topics if logging enabled or only management (first 2) if not */ - int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout); - - /* handle the poll result */ - if (poll_ret < 0) { - warnx("ERROR: poll error, stop logging"); - main_thread_should_exit = true; - - } else if (poll_ret > 0) { - - /* check all data subscriptions only if logging enabled, - * logging_enabled can be changed while checking vehicle_command and vehicle_status */ - bool check_data = logging_enabled; - int ifds = 0; - int handled_topics = 0; - - /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd); - handle_command(&buf.cmd); - handled_topics++; - } + usleep(sleep_delay); - /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); + /* --- VEHICLE COMMAND - LOG MANAGEMENT --- */ + if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) { + handle_command(&buf.cmd); + } - if (log_when_armed) { - handle_status(&buf_status); - } + /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ + bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status); - handled_topics++; + if (status_updated) { + if (log_when_armed) { + handle_status(&buf_status); } + } - /* --- GPS POSITION - LOG MANAGEMENT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); + /* --- GPS POSITION - LOG MANAGEMENT --- */ + bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos); - if (log_name_timestamp) { - gps_time = buf.gps_pos.time_gps_usec; - } + if (gps_pos_updated && log_name_timestamp) { + gps_time = buf_gps_pos.time_gps_usec; + } - handled_topics++; - } + if (!logging_enabled) { + continue; + } - if (!logging_enabled || !check_data || handled_topics >= poll_ret) { - continue; - } + pthread_mutex_lock(&logbuffer_mutex); - ifds = 1; // begin from fds[1] again - - pthread_mutex_lock(&logbuffer_mutex); - - /* write time stamp message */ - log_msg.msg_type = LOG_TIME_MSG; - log_msg.body.log_TIME.t = hrt_absolute_time(); - LOGBUFFER_WRITE_AND_COUNT(TIME); - - /* --- VEHICLE STATUS --- */ - if (fds[ifds++].revents & POLLIN) { - // Don't orb_copy, it's already done few lines above - 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.navigation_state = (uint8_t) buf_status.navigation_state; - log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; - 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); - } + /* write time stamp message */ + log_msg.msg_type = LOG_TIME_MSG; + log_msg.body.log_TIME.t = hrt_absolute_time(); + LOGBUFFER_WRITE_AND_COUNT(TIME); + + /* --- VEHICLE STATUS --- */ + if (status_updated) { + 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; + 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 --- */ - if (fds[ifds++].revents & POLLIN) { - // Don't orb_copy, it's already done few lines above - 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.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; - log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s; - 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; - LOGBUFFER_WRITE_AND_COUNT(GPS); - } + /* --- 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; + 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; + log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s; + 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); + } - /* --- SENSOR COMBINED --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor); - bool write_IMU = false; - bool write_SENS = false; + /* --- SATELLITE INFO - UNIT #1 --- */ + if (_extended_logging) { - if (buf.sensor.gyro_counter != gyro_counter) { - gyro_counter = buf.sensor.gyro_counter; - write_IMU = true; - } + if (copy_if_updated(ORB_ID(satellite_info), subs.sat_info_sub, &buf.sat_info)) { - if (buf.sensor.accelerometer_counter != accelerometer_counter) { - accelerometer_counter = buf.sensor.accelerometer_counter; - write_IMU = true; - } + /* 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]); - if (buf.sensor.magnetometer_counter != magnetometer_counter) { - magnetometer_counter = buf.sensor.magnetometer_counter; - write_IMU = true; - } + log_msg.msg_type = LOG_GS0A_MSG; + memset(&log_msg.body.log_GS0A, 0, sizeof(log_msg.body.log_GS0A)); + snr_mean = 0.0f; - if (buf.sensor.baro_counter != baro_counter) { - baro_counter = buf.sensor.baro_counter; - write_SENS = true; - } + /* fill set A and calculate mean SNR */ + for (unsigned i = 0; i < sat_info_count; i++) { - if (buf.sensor.differential_pressure_counter != differential_pressure_counter) { - differential_pressure_counter = buf.sensor.differential_pressure_counter; - write_SENS = true; - } + snr_mean += buf.sat_info.snr[i]; - if (write_IMU) { - log_msg.msg_type = LOG_IMU_MSG; - log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; - log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; - log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; - log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; - log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; - log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; - log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; - log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; - log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; - LOGBUFFER_WRITE_AND_COUNT(IMU); + 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; - if (write_SENS) { - log_msg.msg_type = LOG_SENS_MSG; - log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; - log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; - log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; - log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; - LOGBUFFER_WRITE_AND_COUNT(SENS); + /* 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); } + } - /* --- ATTITUDE --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); - log_msg.msg_type = LOG_ATT_MSG; - log_msg.body.log_ATT.roll = buf.att.roll; - log_msg.body.log_ATT.pitch = buf.att.pitch; - log_msg.body.log_ATT.yaw = buf.att.yaw; - log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; - log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; - log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; - LOGBUFFER_WRITE_AND_COUNT(ATT); - } + /* --- SENSOR COMBINED --- */ + if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) { + bool write_IMU = false; + bool write_SENS = false; - /* --- ATTITUDE SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp); - log_msg.msg_type = LOG_ATSP_MSG; - log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; - log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; - log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; - log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; - LOGBUFFER_WRITE_AND_COUNT(ATSP); + if (buf.sensor.timestamp != gyro_timestamp) { + gyro_timestamp = buf.sensor.timestamp; + write_IMU = true; } - /* --- RATES SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp); - log_msg.msg_type = LOG_ARSP_MSG; - log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; - log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; - log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; - LOGBUFFER_WRITE_AND_COUNT(ARSP); + if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) { + accelerometer_timestamp = buf.sensor.accelerometer_timestamp; + write_IMU = true; } - /* --- ACTUATOR OUTPUTS --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs); - log_msg.msg_type = LOG_OUT0_MSG; - memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); - LOGBUFFER_WRITE_AND_COUNT(OUT0); + if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) { + magnetometer_timestamp = buf.sensor.magnetometer_timestamp; + write_IMU = true; } - /* --- ACTUATOR CONTROL --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls); - log_msg.msg_type = LOG_ATTC_MSG; - log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; - log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; - log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; - log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; - LOGBUFFER_WRITE_AND_COUNT(ATTC); + if (buf.sensor.baro_timestamp != barometer_timestamp) { + barometer_timestamp = buf.sensor.baro_timestamp; + write_SENS = true; } - /* --- LOCAL POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); - log_msg.msg_type = LOG_LPOS_MSG; - log_msg.body.log_LPOS.x = buf.local_pos.x; - log_msg.body.log_LPOS.y = buf.local_pos.y; - log_msg.body.log_LPOS.z = buf.local_pos.z; - log_msg.body.log_LPOS.vx = buf.local_pos.vx; - log_msg.body.log_LPOS.vy = buf.local_pos.vy; - log_msg.body.log_LPOS.vz = buf.local_pos.vz; - log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat; - log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon; - 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.landed = buf.local_pos.landed; - LOGBUFFER_WRITE_AND_COUNT(LPOS); + if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) { + differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp; + write_SENS = true; } - /* --- LOCAL POSITION SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp); - log_msg.msg_type = LOG_LPSP_MSG; - log_msg.body.log_LPSP.x = buf.local_pos_sp.x; - log_msg.body.log_LPSP.y = buf.local_pos_sp.y; - log_msg.body.log_LPSP.z = buf.local_pos_sp.z; - log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; - LOGBUFFER_WRITE_AND_COUNT(LPSP); + if (write_IMU) { + log_msg.msg_type = LOG_IMU_MSG; + log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0]; + log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1]; + log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2]; + log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0]; + log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1]; + log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2]; + log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0]; + log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1]; + log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2]; + LOGBUFFER_WRITE_AND_COUNT(IMU); } - /* --- GLOBAL POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); - 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); + if (write_SENS) { + log_msg.msg_type = LOG_SENS_MSG; + log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar; + log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter; + log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius; + log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa; + log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa; + LOGBUFFER_WRITE_AND_COUNT(SENS); } - /* --- GLOBAL POSITION SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); - log_msg.msg_type = LOG_GPSP_MSG; - log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; - log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; - log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; - log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; - log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; - log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; - log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; - log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; - log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; - log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; - log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; - log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; - LOGBUFFER_WRITE_AND_COUNT(GPSP); - } + } - /* --- VICON POSITION --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); - // TODO not implemented yet - } + /* --- ATTITUDE --- */ + if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) { + log_msg.msg_type = LOG_ATT_MSG; + log_msg.body.log_ATT.roll = buf.att.roll; + log_msg.body.log_ATT.pitch = buf.att.pitch; + log_msg.body.log_ATT.yaw = buf.att.yaw; + log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; + log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; + log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.gx = buf.att.g_comp[0]; + log_msg.body.log_ATT.gy = buf.att.g_comp[1]; + log_msg.body.log_ATT.gz = buf.att.g_comp[2]; + LOGBUFFER_WRITE_AND_COUNT(ATT); + } - /* --- FLOW --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - log_msg.msg_type = LOG_FLOW_MSG; - log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; - log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; - log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; - log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; - log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; - log_msg.body.log_FLOW.quality = buf.flow.quality; - log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; - LOGBUFFER_WRITE_AND_COUNT(FLOW); - } + /* --- ATTITUDE SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) { + log_msg.msg_type = LOG_ATSP_MSG; + log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; + log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; + log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; + log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; + LOGBUFFER_WRITE_AND_COUNT(ATSP); + } - /* --- RC CHANNELS --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(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; - LOGBUFFER_WRITE_AND_COUNT(RC); - } + /* --- RATES SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) { + log_msg.msg_type = LOG_ARSP_MSG; + log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll; + log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch; + log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw; + LOGBUFFER_WRITE_AND_COUNT(ARSP); + } - /* --- AIRSPEED --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); - log_msg.msg_type = LOG_AIRS_MSG; - log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; - log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; - LOGBUFFER_WRITE_AND_COUNT(AIRS); - } + /* --- ACTUATOR OUTPUTS --- */ + if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) { + log_msg.msg_type = LOG_OUT0_MSG; + memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output)); + LOGBUFFER_WRITE_AND_COUNT(OUT0); + } - /* --- ESCs --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc); - - for (uint8_t i = 0; i < buf.esc.esc_count; i++) { - log_msg.msg_type = LOG_ESC_MSG; - log_msg.body.log_ESC.counter = buf.esc.counter; - log_msg.body.log_ESC.esc_count = buf.esc.esc_count; - log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; - log_msg.body.log_ESC.esc_num = i; - log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; - log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; - log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; - log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; - log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; - log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; - log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; - log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; - LOGBUFFER_WRITE_AND_COUNT(ESC); - } - } + /* --- ACTUATOR CONTROL --- */ + if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) { + log_msg.msg_type = LOG_ATTC_MSG; + log_msg.body.log_ATTC.roll = buf.act_controls.control[0]; + log_msg.body.log_ATTC.pitch = buf.act_controls.control[1]; + log_msg.body.log_ATTC.yaw = buf.act_controls.control[2]; + log_msg.body.log_ATTC.thrust = buf.act_controls.control[3]; + LOGBUFFER_WRITE_AND_COUNT(ATTC); + } - /* --- GLOBAL VELOCITY SETPOINT --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp); - log_msg.msg_type = LOG_GVSP_MSG; - log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; - log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; - log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; - LOGBUFFER_WRITE_AND_COUNT(GVSP); - } + /* --- LOCAL POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) { + log_msg.msg_type = LOG_LPOS_MSG; + log_msg.body.log_LPOS.x = buf.local_pos.x; + log_msg.body.log_LPOS.y = buf.local_pos.y; + log_msg.body.log_LPOS.z = buf.local_pos.z; + log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; + log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; + log_msg.body.log_LPOS.vx = buf.local_pos.vx; + log_msg.body.log_LPOS.vy = buf.local_pos.vy; + log_msg.body.log_LPOS.vz = buf.local_pos.vz; + 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.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); + } + + /* --- LOCAL POSITION SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) { + log_msg.msg_type = LOG_LPSP_MSG; + log_msg.body.log_LPSP.x = buf.local_pos_sp.x; + log_msg.body.log_LPSP.y = buf.local_pos_sp.y; + log_msg.body.log_LPSP.z = buf.local_pos_sp.z; + log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw; + LOGBUFFER_WRITE_AND_COUNT(LPSP); + } + + /* --- GLOBAL POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) { + log_msg.msg_type = LOG_GPOS_MSG; + log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7; + log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7; + log_msg.body.log_GPOS.alt = buf.global_pos.alt; + log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n; + log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e; + log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d; + log_msg.body.log_GPOS.eph = buf.global_pos.eph; + log_msg.body.log_GPOS.epv = buf.global_pos.epv; + LOGBUFFER_WRITE_AND_COUNT(GPOS); + } + + /* --- 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 = 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; + 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 --- */ + if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) { + log_msg.msg_type = LOG_VICN_MSG; + log_msg.body.log_VICN.x = buf.vicon_pos.x; + log_msg.body.log_VICN.y = buf.vicon_pos.y; + log_msg.body.log_VICN.z = buf.vicon_pos.z; + log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch; + log_msg.body.log_VICN.roll = buf.vicon_pos.roll; + log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; + LOGBUFFER_WRITE_AND_COUNT(VICN); + } + + /* --- FLOW --- */ + if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { + log_msg.msg_type = LOG_FLOW_MSG; + log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x; + log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y; + log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m; + log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m; + log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m; + log_msg.body.log_FLOW.quality = buf.flow.quality; + log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id; + LOGBUFFER_WRITE_AND_COUNT(FLOW); + } + + /* --- RC CHANNELS --- */ + 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.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); + } + + /* --- AIRSPEED --- */ + if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) { + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } - /* --- BATTERY --- */ - if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery); - log_msg.msg_type = LOG_BATT_MSG; - log_msg.body.log_BATT.voltage = buf.battery.voltage_v; - log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; - log_msg.body.log_BATT.current = buf.battery.current_a; - log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; - LOGBUFFER_WRITE_AND_COUNT(BATT); + /* --- ESCs --- */ + if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) { + for (uint8_t i = 0; i < buf.esc.esc_count; i++) { + log_msg.msg_type = LOG_ESC_MSG; + log_msg.body.log_ESC.counter = buf.esc.counter; + log_msg.body.log_ESC.esc_count = buf.esc.esc_count; + log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; + log_msg.body.log_ESC.esc_num = i; + log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; + log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; + log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; + log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; + log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; + log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; + log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; + log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; + LOGBUFFER_WRITE_AND_COUNT(ESC); } + } - /* 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 */ - pthread_cond_signal(&logbuffer_cond); + /* --- GLOBAL VELOCITY SETPOINT --- */ + if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) { + log_msg.msg_type = LOG_GVSP_MSG; + log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx; + log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy; + log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz; + LOGBUFFER_WRITE_AND_COUNT(GVSP); + } + + /* --- BATTERY --- */ + if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) { + log_msg.msg_type = LOG_BATT_MSG; + log_msg.body.log_BATT.voltage = buf.battery.voltage_v; + log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v; + log_msg.body.log_BATT.current = buf.battery.current_a; + log_msg.body.log_BATT.discharged = buf.battery.discharged_mah; + LOGBUFFER_WRITE_AND_COUNT(BATT); + } + + /* --- SYSTEM POWER RAILS --- */ + if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) { + log_msg.msg_type = LOG_PWR_MSG; + log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v; + log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected; + log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid; + log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid; + log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC; + log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC; + + /* copy servo rail status topic here too */ + orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status); + log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v; + log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v; + + LOGBUFFER_WRITE_AND_COUNT(PWR); + } + + /* --- TELEMETRY --- */ + 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 --- */ + if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) { + log_msg.msg_type = LOG_DIST_MSG; + log_msg.body.log_DIST.bottom = buf.range_finder.distance; + log_msg.body.log_DIST.bottom_rate = 0.0f; + log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); + LOGBUFFER_WRITE_AND_COUNT(DIST); + } + + /* --- ESTIMATOR STATUS --- */ + if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { + 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); + } - /* unlock, now the writer thread may run */ - pthread_mutex_unlock(&logbuffer_mutex); + /* --- 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); } - if (use_sleep) { - usleep(sleep_delay); + /* 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 */ + pthread_cond_signal(&logbuffer_cond); } + + /* unlock, now the writer thread may run */ + pthread_mutex_unlock(&logbuffer_mutex); } - if (logging_enabled) + if (logging_enabled) { sdlog2_stop_log(); + } pthread_mutex_destroy(&logbuffer_mutex); pthread_cond_destroy(&logbuffer_cond); @@ -1367,6 +1588,7 @@ 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); } @@ -1421,8 +1643,6 @@ int file_copy(const char *file_old, const char *file_new) void handle_command(struct vehicle_command_s *cmd) { - /* result of the command */ - uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED; int param; /* request to set different system mode */ |