diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 92 |
1 files changed, 81 insertions, 11 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 0d36fa2c6..31861c3fc 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1073,6 +1073,12 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime magnetometer_timestamp = 0; hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; + hrt_abstime gyro1_timestamp = 0; + hrt_abstime accelerometer1_timestamp = 0; + hrt_abstime magnetometer1_timestamp = 0; + hrt_abstime gyro2_timestamp = 0; + hrt_abstime accelerometer2_timestamp = 0; + hrt_abstime magnetometer2_timestamp = 0; /* initialize calculated mean SNR */ float snr_mean = 0.0f; @@ -1209,6 +1215,8 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- SENSOR COMBINED --- */ if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) { bool write_IMU = false; + bool write_IMU1 = false; + bool write_IMU2 = false; bool write_SENS = false; if (buf.sensor.timestamp != gyro_timestamp) { @@ -1260,6 +1268,64 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(SENS); } + if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) { + accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp; + write_IMU1 = true; + } + + if (buf.sensor.gyro1_timestamp != gyro1_timestamp) { + gyro1_timestamp = buf.sensor.gyro1_timestamp; + write_IMU1 = true; + } + + if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) { + magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp; + write_IMU1 = true; + } + + if (write_IMU1) { + log_msg.msg_type = LOG_IMU1_MSG; + log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0]; + log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1]; + log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2]; + log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0]; + log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1]; + log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2]; + log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0]; + log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1]; + log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2]; + LOGBUFFER_WRITE_AND_COUNT(IMU); + } + + if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) { + accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp; + write_IMU2 = true; + } + + if (buf.sensor.gyro2_timestamp != gyro2_timestamp) { + gyro2_timestamp = buf.sensor.gyro2_timestamp; + write_IMU2 = true; + } + + if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) { + magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp; + write_IMU2 = true; + } + + if (write_IMU2) { + log_msg.msg_type = LOG_IMU2_MSG; + log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0]; + log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1]; + log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2]; + log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0]; + log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1]; + log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2]; + log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0]; + log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1]; + log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2]; + LOGBUFFER_WRITE_AND_COUNT(IMU); + } + } /* --- ATTITUDE --- */ @@ -1366,17 +1432,20 @@ 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 = 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); + + if (buf.triplet.current.valid) { + log_msg.msg_type = LOG_GPSP_MSG; + log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state; + 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 --- */ @@ -1529,6 +1598,7 @@ int sdlog2_thread_main(int argc, char *argv[]) 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.altitudeFiltered = buf.tecs_status.altitudeFiltered; 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; |