diff options
Diffstat (limited to 'src/modules/sdlog2')
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 67 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 49 |
2 files changed, 107 insertions, 9 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 31da81f5c..80ee3adee 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -73,6 +73,7 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/vehicle_local_position_setpoint.h> #include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_global_position_setpoint.h> #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_vicon_position.h> #include <uORB/topics/vehicle_control_debug.h> @@ -81,6 +82,7 @@ #include <uORB/topics/differential_pressure.h> #include <uORB/topics/airspeed.h> #include <uORB/topics/rc_channels.h> +#include <uORB/topics/esc_status.h> #include <systemlib/systemlib.h> @@ -614,9 +616,9 @@ int sdlog2_thread_main(int argc, char *argv[]) errx(1, "can't allocate log buffer, exiting."); } - /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ - /* number of messages */ - const ssize_t fdsc = 20; + /* --- IMPORTANT: DEFINE MAX NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */ + /* max number of messages */ + const ssize_t fdsc = 21; /* Sanity check variable and index */ ssize_t fdsc_count = 0; @@ -642,6 +644,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_local_position_s local_pos; struct vehicle_local_position_setpoint_s local_pos_sp; struct vehicle_global_position_s global_pos; + struct vehicle_global_position_setpoint_s global_pos_sp; struct vehicle_gps_position_s gps_pos; struct vehicle_vicon_position_s vicon_pos; struct vehicle_control_debug_s control_debug; @@ -649,6 +652,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct rc_channels_s rc; struct differential_pressure_s diff_pres; struct airspeed_s airspeed; + struct esc_status_s esc; } buf; memset(&buf, 0, sizeof(buf)); @@ -666,12 +670,14 @@ int sdlog2_thread_main(int argc, char *argv[]) int local_pos_sub; int local_pos_sp_sub; int global_pos_sub; + int global_pos_sp_sub; int gps_pos_sub; int vicon_pos_sub; int control_debug_sub; int flow_sub; int rc_sub; int airspeed_sub; + int esc_sub; } subs; /* log message buffer: header + body */ @@ -696,6 +702,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_ARSP_s log_ARSP; struct log_FLOW_s log_FLOW; struct log_GPOS_s log_GPOS; + struct log_GPSP_s log_GPSP; + struct log_ESC_s log_ESC; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -787,6 +795,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- GLOBAL POSITION SETPOINT--- */ + subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + fds[fdsc_count].fd = subs.global_pos_sp_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* --- VICON POSITION --- */ subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); fds[fdsc_count].fd = subs.vicon_pos_sub; @@ -817,6 +831,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- ESCs --- */ + subs.esc_sub = orb_subscribe(ORB_ID(esc_status)); + fds[fdsc_count].fd = subs.esc_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -1108,6 +1128,25 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(GPOS); } + /* --- GLOBAL POSITION SETPOINT --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp); + log_msg.msg_type = LOG_GPSP_MSG; + log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative; + log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat; + log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon; + log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude; + log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw; + log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius; + log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction; + log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd; + log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1; + log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2; + log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3; + log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4; + LOGBUFFER_WRITE_AND_COUNT(GPSP); + } + /* --- VICON POSITION --- */ if (fds[ifds++].revents & POLLIN) { orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); @@ -1167,6 +1206,28 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(AIRS); } + /* --- ESCs --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc); + for (uint8_t i=0; i<buf.esc.esc_count; i++) + { + log_msg.msg_type = LOG_ESC_MSG; + log_msg.body.log_ESC.counter = buf.esc.counter; + log_msg.body.log_ESC.esc_count = buf.esc.esc_count; + log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype; + log_msg.body.log_ESC.esc_num = i; + log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address; + log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version; + log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage; + log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current; + log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm; + log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature; + log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint; + log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw; + LOGBUFFER_WRITE_AND_COUNT(ESC); + } + } + #ifdef SDLOG2_DEBUG printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb)); #endif diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 358637f93..9be96a62e 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -152,15 +152,15 @@ struct log_ATTC_s { /* --- STAT - VEHICLE STATE --- */ #define LOG_STAT_MSG 10 struct log_STAT_s { - unsigned char state; - unsigned char flight_mode; - unsigned char manual_control_mode; - unsigned char manual_sas_mode; - unsigned char armed; + uint8_t state; + uint8_t flight_mode; + uint8_t manual_control_mode; + uint8_t manual_sas_mode; + uint8_t armed; float battery_voltage; float battery_current; float battery_remaining; - unsigned char battery_warning; + uint8_t battery_warning; }; /* --- CTRL - CONTROL DEBUG --- */ @@ -229,6 +229,41 @@ struct log_GPOS_s { float vel_e; float vel_d; }; + +/* --- GPSP - GLOBAL POSITION SETPOINT --- */ +#define LOG_GPSP_MSG 17 +struct log_GPSP_s { + uint8_t altitude_is_relative; + int32_t lat; + int32_t lon; + float altitude; + float yaw; + float loiter_radius; + int8_t loiter_direction; + uint8_t nav_cmd; + float param1; + float param2; + float param3; + float param4; +}; + +/* --- ESC - ESC STATE --- */ +#define LOG_ESC_MSG 18 +struct log_ESC_s { + uint16_t counter; + uint8_t esc_count; + uint8_t esc_connectiontype; + uint8_t esc_num; + uint16_t esc_address; + uint16_t esc_version; + uint16_t esc_voltage; + uint16_t esc_current; + uint16_t esc_rpm; + uint16_t esc_temperature; + float esc_setpoint; + uint16_t esc_setpoint_raw; +}; + #pragma pack(pop) /* construct list of all message formats */ @@ -251,6 +286,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"), + LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); |