diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2.c')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 90 |
1 files changed, 76 insertions, 14 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index deac9e20b..31da81f5c 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> @@ -74,6 +75,7 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> +#include <uORB/topics/vehicle_control_debug.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> @@ -190,7 +192,7 @@ 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'. @@ -614,7 +616,8 @@ 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; + const ssize_t fdsc = 20; + /* Sanity check variable and index */ ssize_t fdsc_count = 0; /* file descriptors to wait for */ @@ -623,6 +626,9 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_status_s buf_status; memset(&buf_status, 0, sizeof(buf_status)); + struct actuator_safety_s buf_safety; + memset(&buf_safety, 0, sizeof(buf_safety)); + /* warning! using union here to save memory, elements should be used separately! */ union { struct vehicle_command_s cmd; @@ -638,6 +644,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_position_s global_pos; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; + struct vehicle_control_debug_s control_debug; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; @@ -648,6 +655,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct { int cmd_sub; int status_sub; + int safety_sub; int sensor_sub; int att_sub; int att_sp_sub; @@ -660,6 +668,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int global_pos_sub; int gps_pos_sub; int vicon_pos_sub; + int control_debug_sub; int flow_sub; int rc_sub; int airspeed_sub; @@ -680,6 +689,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GPS_s log_GPS; struct log_ATTC_s log_ATTC; struct log_STAT_s log_STAT; + struct log_CTRL_s log_CTRL; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; struct log_AIRS_s log_AIRS; @@ -699,6 +709,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- SAFETY --- */ + 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; @@ -777,6 +793,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- CONTROL DEBUG --- */ + subs.control_debug_sub = orb_subscribe(ORB_ID(vehicle_control_debug)); + fds[fdsc_count].fd = subs.control_debug_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* --- OPTICAL FLOW --- */ subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); fds[fdsc_count].fd = subs.flow_sub; @@ -854,22 +876,33 @@ int sdlog2_thread_main(int argc, char *argv[]) handled_topics++; } - /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ + /* --- SAFETY- LOG MANAGEMENT --- */ if (fds[ifds++].revents & POLLIN) { - orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); + orb_copy(ORB_ID(actuator_safety), subs.safety_sub, &buf_safety); if (log_when_armed) { - handle_status(&buf_status); + handle_status(&buf_safety); } handled_topics++; } + /* --- VEHICLE STATUS - LOG MANAGEMENT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status); + + //if (log_when_armed) { + // handle_status(&buf_safety); + //} + + //handled_topics++; + } + if (!logging_enabled || !check_data || handled_topics >= poll_ret) { continue; } - ifds = 1; // Begin from fds[1] again + ifds = 2; // Begin from fds[2] again pthread_mutex_lock(&logbuffer_mutex); @@ -882,11 +915,16 @@ int sdlog2_thread_main(int argc, char *argv[]) if (fds[ifds++].revents & POLLIN) { // Don't orb_copy, it's already done few lines above log_msg.msg_type = LOG_STAT_MSG; - log_msg.body.log_STAT.state = (unsigned char) buf_status.state_machine; - log_msg.body.log_STAT.flight_mode = (unsigned char) buf_status.flight_mode; - log_msg.body.log_STAT.manual_control_mode = (unsigned char) buf_status.manual_control_mode; - log_msg.body.log_STAT.manual_sas_mode = (unsigned char) buf_status.manual_sas_mode; - log_msg.body.log_STAT.armed = (unsigned char) buf_status.flag_system_armed; + // XXX fix this + // log_msg.body.log_STAT.state = (unsigned char) buf_status.state_machine; + // log_msg.body.log_STAT.flight_mode = (unsigned char) buf_status.flight_mode; + // log_msg.body.log_STAT.manual_control_mode = (unsigned char) buf_status.manual_control_mode; + // log_msg.body.log_STAT.manual_sas_mode = (unsigned char) buf_status.manual_sas_mode; + log_msg.body.log_STAT.state = 0; + 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_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; @@ -977,6 +1015,9 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATT.roll_rate = buf.att.rollspeed; log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed; log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed; + log_msg.body.log_ATT.roll_acc = buf.att.rollacc; + log_msg.body.log_ATT.pitch_acc = buf.att.pitchacc; + log_msg.body.log_ATT.yaw_acc = buf.att.yawacc; LOGBUFFER_WRITE_AND_COUNT(ATT); } @@ -1073,6 +1114,27 @@ int sdlog2_thread_main(int argc, char *argv[]) // TODO not implemented yet } + /* --- CONTROL DEBUG --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_control_debug), subs.control_debug_sub, &buf.control_debug); + + 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_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; + + LOGBUFFER_WRITE_AND_COUNT(CTRL); + } + /* --- FLOW --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); @@ -1225,10 +1287,10 @@ void handle_command(struct vehicle_command_s *cmd) } } -void handle_status(struct vehicle_status_s *status) +void handle_status(struct actuator_safety_s *safety) { - if (status->flag_system_armed != flag_system_armed) { - flag_system_armed = status->flag_system_armed; + if (safety->armed != flag_system_armed) { + flag_system_armed = safety->armed; if (flag_system_armed) { sdlog2_start_log(); |