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-rw-r--r--src/modules/sdlog2/sdlog2.c236
-rw-r--r--src/modules/sdlog2/sdlog2_format.h8
-rw-r--r--src/modules/sdlog2/sdlog2_messages.h68
-rw-r--r--src/modules/sdlog2/sdlog2_version.h62
4 files changed, 270 insertions, 104 deletions
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index ba7cdd91c..f94875d5b 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -58,6 +58,7 @@
#include <systemlib/err.h>
#include <unistd.h>
#include <drivers/drv_hrt.h>
+#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
@@ -75,6 +76,7 @@
#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_global_velocity_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -83,18 +85,19 @@
#include <uORB/topics/esc_status.h>
#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
#include <mavlink/mavlink_log.h>
#include "logbuffer.h"
#include "sdlog2_format.h"
#include "sdlog2_messages.h"
+#include "sdlog2_version.h"
#define LOGBUFFER_WRITE_AND_COUNT(_msg) if (logbuffer_write(&lb, &log_msg, LOG_PACKET_SIZE(_msg))) { \
log_msgs_written++; \
} else { \
log_msgs_skipped++; \
- /*printf("skip\n");*/ \
}
#define LOG_ORB_SUBSCRIBE(_var, _topic) subs.##_var##_sub = orb_subscribe(ORB_ID(##_topic##)); \
@@ -102,9 +105,6 @@
fds[fdsc_count].events = POLLIN; \
fdsc_count++;
-
-//#define SDLOG2_DEBUG
-
static bool main_thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
@@ -183,8 +183,17 @@ static void sdlog2_stop_log(void);
/**
* Write a header to log file: list of message formats.
*/
-static void write_formats(int fd);
+static int write_formats(int fd);
+/**
+ * Write version message to log file.
+ */
+static int write_version(int fd);
+
+/**
+ * Write parameters to log file.
+ */
+static int write_parameters(int fd);
static bool file_exist(const char *filename);
@@ -233,24 +242,24 @@ int sdlog2_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
- printf("sdlog2 already running\n");
+ warnx("already running");
/* this is not an error */
exit(0);
}
main_thread_should_exit = false;
deamon_task = task_spawn_cmd("sdlog2",
- SCHED_DEFAULT,
- SCHED_PRIORITY_DEFAULT - 30,
- 3000,
- sdlog2_thread_main,
- (const char **)argv);
+ SCHED_DEFAULT,
+ SCHED_PRIORITY_DEFAULT - 30,
+ 3000,
+ sdlog2_thread_main,
+ (const char **)argv);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (!thread_running) {
- printf("\tsdlog2 is not started\n");
+ warnx("not started");
}
main_thread_should_exit = true;
@@ -262,7 +271,7 @@ int sdlog2_main(int argc, char *argv[])
sdlog2_status();
} else {
- printf("\tsdlog2 not started\n");
+ warnx("not started\n");
}
exit(0);
@@ -357,10 +366,13 @@ static void *logwriter_thread(void *arg)
struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
- int log_file = open_logfile();
+ int log_fd = open_logfile();
- /* write log messages formats */
- write_formats(log_file);
+ /* write log messages formats, version and parameters */
+ log_bytes_written += write_formats(log_fd);
+ log_bytes_written += write_version(log_fd);
+ log_bytes_written += write_parameters(log_fd);
+ fsync(log_fd);
int poll_count = 0;
@@ -387,11 +399,6 @@ static void *logwriter_thread(void *arg)
/* only get pointer to thread-safe data, do heavy I/O a few lines down */
int available = logbuffer_get_ptr(logbuf, &read_ptr, &is_part);
-#ifdef SDLOG2_DEBUG
- int rp = logbuf->read_ptr;
- int wp = logbuf->write_ptr;
-#endif
-
/* continue */
pthread_mutex_unlock(&logbuffer_mutex);
@@ -404,12 +411,9 @@ static void *logwriter_thread(void *arg)
n = available;
}
- n = write(log_file, read_ptr, n);
+ n = write(log_fd, read_ptr, n);
should_wait = (n == available) && !is_part;
-#ifdef SDLOG2_DEBUG
- printf("write %i %i of %i rp=%i wp=%i, is_part=%i, should_wait=%i\n", log_bytes_written, n, available, rp, wp, (int)is_part, (int)should_wait);
-#endif
if (n < 0) {
main_thread_should_exit = true;
@@ -422,31 +426,23 @@ static void *logwriter_thread(void *arg)
} else {
n = 0;
-#ifdef SDLOG2_DEBUG
- printf("no data available, main_thread_should_exit=%i, logwriter_should_exit=%i\n", (int)main_thread_should_exit, (int)logwriter_should_exit);
-#endif
+
/* exit only with empty buffer */
if (main_thread_should_exit || logwriter_should_exit) {
-#ifdef SDLOG2_DEBUG
- printf("break logwriter thread\n");
-#endif
break;
}
+
should_wait = true;
}
if (++poll_count == 10) {
- fsync(log_file);
+ fsync(log_fd);
poll_count = 0;
}
}
- fsync(log_file);
- close(log_file);
-
-#ifdef SDLOG2_DEBUG
- printf("logwriter thread exit\n");
-#endif
+ fsync(log_fd);
+ close(log_fd);
return OK;
}
@@ -500,34 +496,92 @@ void sdlog2_stop_log()
/* wait for write thread to return */
int ret;
+
if ((ret = pthread_join(logwriter_pthread, NULL)) != 0) {
warnx("error joining logwriter thread: %i", ret);
}
+
logwriter_pthread = 0;
sdlog2_status();
}
-
-void write_formats(int fd)
+int write_formats(int fd)
{
/* construct message format packet */
struct {
LOG_PACKET_HEADER;
struct log_format_s body;
- } log_format_packet = {
+ } log_msg_format = {
LOG_PACKET_HEADER_INIT(LOG_FORMAT_MSG),
};
- /* fill message format packet for each format and write to log */
- int i;
+ int written = 0;
+
+ /* fill message format packet for each format and write it */
+ for (int i = 0; i < log_formats_num; i++) {
+ log_msg_format.body = log_formats[i];
+ written += write(fd, &log_msg_format, sizeof(log_msg_format));
+ }
+
+ return written;
+}
+
+int write_version(int fd)
+{
+ /* construct version message */
+ struct {
+ LOG_PACKET_HEADER;
+ struct log_VER_s body;
+ } log_msg_VER = {
+ LOG_PACKET_HEADER_INIT(LOG_VER_MSG),
+ };
+
+ /* fill version message and write it */
+ strncpy(log_msg_VER.body.fw_git, FW_GIT, sizeof(log_msg_VER.body.fw_git));
+ strncpy(log_msg_VER.body.arch, HW_ARCH, sizeof(log_msg_VER.body.arch));
+ return write(fd, &log_msg_VER, sizeof(log_msg_VER));
+}
+
+int write_parameters(int fd)
+{
+ /* construct parameter message */
+ struct {
+ LOG_PACKET_HEADER;
+ struct log_PARM_s body;
+ } log_msg_PARM = {
+ LOG_PACKET_HEADER_INIT(LOG_PARM_MSG),
+ };
+
+ int written = 0;
+ param_t params_cnt = param_count();
+
+ for (param_t param = 0; param < params_cnt; param++) {
+ /* fill parameter message and write it */
+ strncpy(log_msg_PARM.body.name, param_name(param), sizeof(log_msg_PARM.body.name));
+ float value = NAN;
+
+ switch (param_type(param)) {
+ case PARAM_TYPE_INT32: {
+ int32_t i;
+ param_get(param, &i);
+ value = i; // cast integer to float
+ break;
+ }
+
+ case PARAM_TYPE_FLOAT:
+ param_get(param, &value);
+ break;
- for (i = 0; i < log_formats_num; i++) {
- log_format_packet.body = log_formats[i];
- log_bytes_written += write(fd, &log_format_packet, sizeof(log_format_packet));
+ default:
+ break;
+ }
+
+ log_msg_PARM.body.value = value;
+ written += write(fd, &log_msg_PARM, sizeof(log_msg_PARM));
}
- fsync(fd);
+ return written;
}
int sdlog2_thread_main(int argc, char *argv[])
@@ -605,12 +659,13 @@ int sdlog2_thread_main(int argc, char *argv[])
}
const char *converter_in = "/etc/logging/conv.zip";
- char* converter_out = malloc(150);
+ char *converter_out = malloc(120);
sprintf(converter_out, "%s/conv.zip", folder_path);
if (file_copy(converter_in, converter_out)) {
errx(1, "unable to copy conversion scripts, exiting.");
}
+
free(converter_out);
/* only print logging path, important to find log file later */
@@ -623,15 +678,8 @@ 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 = 19;
- /* Sanity check variable and index */
- ssize_t fdsc_count = 0;
- /* file descriptors to wait for */
- struct pollfd fds[fdsc];
-
struct vehicle_status_s buf_status;
+
memset(&buf_status, 0, sizeof(buf_status));
/* warning! using union here to save memory, elements should be used separately! */
@@ -655,7 +703,9 @@ int sdlog2_thread_main(int argc, char *argv[])
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
struct esc_status_s esc;
+ struct vehicle_global_velocity_setpoint_s global_vel_sp;
} buf;
+
memset(&buf, 0, sizeof(buf));
struct {
@@ -678,6 +728,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int rc_sub;
int airspeed_sub;
int esc_sub;
+ int global_vel_sp_sub;
} subs;
/* log message buffer: header + body */
@@ -703,6 +754,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_GPOS_s log_GPOS;
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
+ struct log_GVSP_s log_GVSP;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
@@ -710,6 +762,14 @@ int sdlog2_thread_main(int argc, char *argv[])
#pragma pack(pop)
memset(&log_msg.body, 0, sizeof(log_msg.body));
+ /* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
+ /* number of messages */
+ const ssize_t fdsc = 20;
+ /* Sanity check variable and index */
+ ssize_t fdsc_count = 0;
+ /* file descriptors to wait for */
+ struct pollfd fds[fdsc];
+
/* --- VEHICLE COMMAND --- */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
@@ -816,7 +876,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
- fdsc_count++;
+ fdsc_count++;
/* --- ESCs --- */
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
@@ -824,6 +884,12 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
+ /* --- GLOBAL VELOCITY SETPOINT --- */
+ subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
+ fds[fdsc_count].fd = subs.global_vel_sp_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.
@@ -898,7 +964,7 @@ int sdlog2_thread_main(int argc, char *argv[])
continue;
}
- ifds = 1; // Begin from fds[1] again
+ ifds = 1; // begin from fds[1] again
pthread_mutex_lock(&logbuffer_mutex);
@@ -911,15 +977,14 @@ 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;
- 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.main_state = (uint8_t) buf_status.main_state;
+ log_msg.body.log_STAT.navigation_state = (uint8_t) buf_status.navigation_state;
+ log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
+ log_msg.body.log_STAT.battery_voltage = buf_status.battery_voltage;
+ log_msg.body.log_STAT.battery_current = buf_status.battery_current;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
- log_msg.body.log_STAT.battery_warning = (unsigned char) buf_status.battery_warning;
+ log_msg.body.log_STAT.battery_warning = (uint8_t) buf_status.battery_warning;
+ log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
@@ -1065,10 +1130,12 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.vx = buf.local_pos.vx;
log_msg.body.log_LPOS.vy = buf.local_pos.vy;
log_msg.body.log_LPOS.vz = buf.local_pos.vz;
- log_msg.body.log_LPOS.hdg = buf.local_pos.hdg;
- log_msg.body.log_LPOS.home_lat = buf.local_pos.home_lat;
- log_msg.body.log_LPOS.home_lon = buf.local_pos.home_lon;
- log_msg.body.log_LPOS.home_alt = buf.local_pos.home_alt;
+ log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
+ log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
+ log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
+ log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
+ log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
+ log_msg.body.log_LPOS.landed = buf.local_pos.landed;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
@@ -1156,8 +1223,8 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- 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++)
- {
+
+ 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;
@@ -1175,14 +1242,18 @@ int sdlog2_thread_main(int argc, char *argv[])
}
}
-#ifdef SDLOG2_DEBUG
- printf("fill rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
-#endif
+ /* --- GLOBAL VELOCITY SETPOINT --- */
+ if (fds[ifds++].revents & POLLIN) {
+ orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp);
+ log_msg.msg_type = LOG_GVSP_MSG;
+ log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
+ log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
+ log_msg.body.log_GVSP.vz = buf.global_vel_sp.vz;
+ LOGBUFFER_WRITE_AND_COUNT(GVSP);
+ }
+
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
-#ifdef SDLOG2_DEBUG
- printf("signal rp=%i wp=%i count=%i\n", lb.read_ptr, lb.write_ptr, logbuffer_count(&lb));
-#endif
/* only request write if several packets can be written at once */
pthread_cond_signal(&logbuffer_cond);
}
@@ -1202,6 +1273,8 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
+ free(lb.data);
+
warnx("exiting.");
thread_running = false;
@@ -1297,8 +1370,11 @@ void handle_command(struct vehicle_command_s *cmd)
void handle_status(struct vehicle_status_s *status)
{
- if (status->flag_system_armed != flag_system_armed) {
- flag_system_armed = status->flag_system_armed;
+ // TODO use flag from actuator_armed here?
+ bool armed = status->arming_state == ARMING_STATE_ARMED || status->arming_state == ARMING_STATE_ARMED_ERROR;
+
+ if (armed != flag_system_armed) {
+ flag_system_armed = armed;
if (flag_system_armed) {
sdlog2_start_log();
diff --git a/src/modules/sdlog2/sdlog2_format.h b/src/modules/sdlog2/sdlog2_format.h
index 5c175ef7e..dc5e6c8bd 100644
--- a/src/modules/sdlog2/sdlog2_format.h
+++ b/src/modules/sdlog2/sdlog2_format.h
@@ -85,10 +85,10 @@ struct log_format_s {
#define LOG_FORMAT(_name, _format, _labels) { \
.type = LOG_##_name##_MSG, \
- .length = sizeof(struct log_##_name##_s) + LOG_PACKET_HEADER_LEN, \
- .name = #_name, \
- .format = _format, \
- .labels = _labels \
+ .length = sizeof(struct log_##_name##_s) + LOG_PACKET_HEADER_LEN, \
+ .name = #_name, \
+ .format = _format, \
+ .labels = _labels \
}
#define LOG_FORMAT_MSG 0x80
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 934e4dec8..90093a407 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -48,12 +48,6 @@
/* define message formats */
#pragma pack(push, 1)
-/* --- TIME - TIME STAMP --- */
-#define LOG_TIME_MSG 1
-struct log_TIME_s {
- uint64_t t;
-};
-
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
struct log_ATT_s {
@@ -106,10 +100,12 @@ struct log_LPOS_s {
float vx;
float vy;
float vz;
- float hdg;
- int32_t home_lat;
- int32_t home_lon;
- float home_alt;
+ int32_t ref_lat;
+ int32_t ref_lon;
+ float ref_alt;
+ uint8_t xy_flags;
+ uint8_t z_flags;
+ uint8_t landed;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -149,15 +145,14 @@ struct log_ATTC_s {
/* --- STAT - VEHICLE STATE --- */
#define LOG_STAT_MSG 10
struct log_STAT_s {
- uint8_t state;
- uint8_t flight_mode;
- uint8_t manual_control_mode;
- uint8_t manual_sas_mode;
- uint8_t armed;
+ uint8_t main_state;
+ uint8_t navigation_state;
+ uint8_t arming_state;
float battery_voltage;
float battery_current;
float battery_remaining;
uint8_t battery_warning;
+ uint8_t landed;
};
/* --- RC - RC INPUT CHANNELS --- */
@@ -244,21 +239,48 @@ struct log_ESC_s {
uint16_t esc_setpoint_raw;
};
+/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
+#define LOG_GVSP_MSG 19
+struct log_GVSP_s {
+ float vx;
+ float vy;
+ float vz;
+};
+
+/* --- TIME - TIME STAMP --- */
+#define LOG_TIME_MSG 129
+struct log_TIME_s {
+ uint64_t t;
+};
+
+/* --- VER - VERSION --- */
+#define LOG_VER_MSG 130
+struct log_VER_s {
+ char arch[16];
+ char fw_git[64];
+};
+
+/* --- PARM - PARAMETER --- */
+#define LOG_PARM_MSG 131
+struct log_PARM_s {
+ char name[16];
+ float value;
+};
+
#pragma pack(pop)
/* construct list of all message formats */
-
static const struct log_format_s log_formats[] = {
- LOG_FORMAT(TIME, "Q", "StartTime"),
+ /* business-level messages, ID < 0x80 */
LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
- LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
+ LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
- LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
+ LOG_FORMAT(STAT, "BBBfffBB", "MainState,NavState,ArmState,BatV,BatC,BatRem,BatWarn,Landed"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
@@ -266,7 +288,13 @@ static const struct log_format_s log_formats[] = {
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"),
+ LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
+ LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
+ /* system-level messages, ID >= 0x80 */
+ // FMT: don't write format of format message, it's useless
+ LOG_FORMAT(TIME, "Q", "StartTime"),
+ LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
+ LOG_FORMAT(PARM, "Nf", "Name,Value"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
diff --git a/src/modules/sdlog2/sdlog2_version.h b/src/modules/sdlog2/sdlog2_version.h
new file mode 100644
index 000000000..c6a9ba638
--- /dev/null
+++ b/src/modules/sdlog2/sdlog2_version.h
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ * Author: Anton Babushkin <anton.babushkin@me.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file sdlog2_version.h
+ *
+ * Tools for system version detection.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef SDLOG2_VERSION_H_
+#define SDLOG2_VERSION_H_
+
+/*
+ GIT_VERSION is defined at build time via a Makefile call to the
+ git command line.
+ */
+#define FREEZE_STR(s) #s
+#define STRINGIFY(s) FREEZE_STR(s)
+#define FW_GIT STRINGIFY(GIT_VERSION)
+
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+#define HW_ARCH "PX4FMU_V1"
+#endif
+
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#define HW_ARCH "PX4FMU_V2"
+#endif
+
+#endif /* SDLOG2_VERSION_H_ */
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-28 09:12:44 +0000