diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 22 |
1 files changed, 8 insertions, 14 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index a86623304..5a3478665 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -91,7 +91,6 @@ #define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \ log_msgs_written++; \ - printf("size: %d\n", LOG_PACKET_SIZE(_msg)); \ } else { \ log_msgs_skipped++; \ /*printf("skip\n");*/ \ @@ -616,6 +615,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ /* number of messages */ const ssize_t fdsc = 17; + /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -1072,26 +1072,20 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- CONTROL DEBUG --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug); - printf("copied control debug\n"); - // log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p; - // log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i; - // log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d; + log_msg.msg_type = LOG_CTRL_MSG; + log_msg.body.log_CTRL.roll_p = buf.control_debug.roll_p; + log_msg.body.log_CTRL.roll_i = buf.control_debug.roll_i; + log_msg.body.log_CTRL.roll_d = buf.control_debug.roll_d; log_msg.body.log_CTRL.roll_rate_p = buf.control_debug.roll_rate_p; log_msg.body.log_CTRL.roll_rate_i = buf.control_debug.roll_rate_i; log_msg.body.log_CTRL.roll_rate_d = buf.control_debug.roll_rate_d; - // log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p; - // log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i; - // log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d; + log_msg.body.log_CTRL.pitch_p = buf.control_debug.pitch_p; + log_msg.body.log_CTRL.pitch_i = buf.control_debug.pitch_i; + log_msg.body.log_CTRL.pitch_d = buf.control_debug.pitch_d; log_msg.body.log_CTRL.pitch_rate_p = buf.control_debug.pitch_rate_p; log_msg.body.log_CTRL.pitch_rate_i = buf.control_debug.pitch_rate_i; log_msg.body.log_CTRL.pitch_rate_d = buf.control_debug.pitch_rate_d; - // log_msg.body.log_CTRL.yaw_p = buf.control_debug.yaw_p; - // log_msg.body.log_CTRL.yaw_i = buf.control_debug.yaw_i; - // log_msg.body.log_CTRL.yaw_d = buf.control_debug.yaw_d; - log_msg.body.log_CTRL.yaw_rate_p = buf.control_debug.yaw_rate_p; - log_msg.body.log_CTRL.yaw_rate_i = buf.control_debug.yaw_rate_i; - log_msg.body.log_CTRL.yaw_rate_d = buf.control_debug.yaw_rate_d; LOGBUFFER_WRITE_AND_COUNT(CTRL); } |