diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 76 |
1 files changed, 50 insertions, 26 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index bc8c0f0db..e026753dc 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -84,6 +84,8 @@ #include <uORB/topics/esc_status.h> #include <uORB/topics/telemetry_status.h> #include <uORB/topics/estimator_status.h> +#include <uORB/topics/system_power.h> +#include <uORB/topics/servorail_status.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> @@ -224,11 +226,11 @@ sdlog2_usage(const char *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"); + "\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"); } /** @@ -255,11 +257,11 @@ 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); } @@ -796,6 +798,8 @@ 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 system_power_s system_power; + struct servorail_status_s servorail_status; } buf; memset(&buf, 0, sizeof(buf)); @@ -828,6 +832,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; struct log_ESTM_s log_ESTM; + struct log_PWR_s log_PWR; + struct log_VICN_s log_VICN; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -859,6 +865,8 @@ int sdlog2_thread_main(int argc, char *argv[]) int telemetry_sub; int range_finder_sub; int estimator_status_sub; + int system_power_sub; + int servorail_status_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -884,6 +892,8 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status)); subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status)); + subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); + subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); thread_running = true; @@ -898,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; - /* track changes in distance status */ - bool dist_bottom_present = false; - /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ @@ -1089,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[]) 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; @@ -1098,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[]) 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; + log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); LOGBUFFER_WRITE_AND_COUNT(LPOS); - - if (buf.local_pos.dist_bottom_valid) { - dist_bottom_present = true; - } - - if (dist_bottom_present) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom; - log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } } /* --- LOCAL POSITION SETPOINT --- */ @@ -1154,7 +1152,14 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- VICON POSITION --- */ if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) { - // TODO not implemented yet + 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 --- */ @@ -1184,6 +1189,7 @@ int sdlog2_thread_main(int argc, char *argv[]) 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); } @@ -1226,6 +1232,24 @@ int sdlog2_thread_main(int argc, char *argv[]) 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 --- */ if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) { log_msg.msg_type = LOG_TELE_MSG; |