diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
| -rw-r--r-- | src/modules/sdlog2/sdlog2.c | 23 |
1 files changed, 16 insertions, 7 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 8c5ec092d..41c2f67e5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -60,6 +60,7 @@ #include <drivers/drv_hrt.h> #include <uORB/uORB.h> +#include <uORB/topics/actuator_safety.h> #include <uORB/topics/vehicle_status.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> @@ -190,7 +191,7 @@ static int file_copy(const char *file_old, const char *file_new); static void handle_command(struct vehicle_command_s *cmd); -static void handle_status(struct vehicle_status_s *cmd); +static void handle_status(struct actuator_safety_s *safety); /** * Create folder for current logging session. Store folder name in 'log_folder'. @@ -623,6 +624,7 @@ int sdlog2_thread_main(int argc, char *argv[]) /* warning! using union here to save memory, elements should be used separately! */ union { + struct actuator_safety_s safety; struct vehicle_command_s cmd; struct sensor_combined_s sensor; struct vehicle_attitude_s att; @@ -643,6 +645,7 @@ int sdlog2_thread_main(int argc, char *argv[]) memset(&buf, 0, sizeof(buf)); struct { + int safety_sub; int cmd_sub; int status_sub; int sensor_sub; @@ -690,6 +693,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- SAFETY STATUS --- */ + subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety)); + fds[fdsc_count].fd = subs.safety_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; @@ -826,6 +835,7 @@ int sdlog2_thread_main(int argc, char *argv[]) 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); @@ -838,7 +848,7 @@ int sdlog2_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); if (log_when_armed) { - handle_status(&buf_status); + handle_status(&buf.safety); } handled_topics++; @@ -870,7 +880,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_STAT.flight_mode = 0; log_msg.body.log_STAT.manual_control_mode = 0; log_msg.body.log_STAT.manual_sas_mode = 0; - log_msg.body.log_STAT.armed = (unsigned char) buf_status.flag_fmu_armed; /* XXX fmu armed correct? */ + log_msg.body.log_STAT.armed = (unsigned char) buf.safety.armed; /* XXX fmu armed correct? */ log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery; log_msg.body.log_STAT.battery_current = buf_status.current_battery; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; @@ -1168,11 +1178,10 @@ void handle_command(struct vehicle_command_s *cmd) } } -void handle_status(struct vehicle_status_s *status) +void handle_status(struct actuator_safety_s *safety) { - /* XXX fmu armed correct? */ - if (status->flag_fmu_armed != flag_system_armed) { - flag_system_armed = status->flag_fmu_armed; + if (safety->armed != flag_system_armed) { + flag_system_armed = safety->armed; if (flag_system_armed) { sdlog2_start_log(); |