diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 48 |
1 files changed, 45 insertions, 3 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 577cadfbb..53cd6a797 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -84,8 +84,10 @@ #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> @@ -939,8 +941,10 @@ 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 tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; + struct wind_estimate_s wind_estimate; } buf; memset(&buf, 0, sizeof(buf)); @@ -979,6 +983,8 @@ int sdlog2_thread_main(int argc, char *argv[]) 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) @@ -1010,8 +1016,10 @@ int sdlog2_thread_main(int argc, char *argv[]) int telemetry_sub; int range_finder_sub; int estimator_status_sub; + int tecs_status_sub; int system_power_sub; int servorail_status_sub; + int wind_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1037,8 +1045,12 @@ 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.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; @@ -1126,8 +1138,8 @@ int sdlog2_thread_main(int argc, char *argv[]) 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.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; @@ -1340,7 +1352,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- 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 = buf.triplet.nav_state; + 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; @@ -1488,6 +1500,36 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(ESTM); } + /* --- 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.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); + } + + /* --- 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); + } + /* 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 */ |