From 764310620837461857d511144738a521e3840f97 Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Sat, 15 Jun 2013 16:37:15 -0400
Subject: Added log print ability to md25 driver.

---
 src/drivers/md25/md25.cpp | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'src/drivers')

diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
index f9f5d70ab..4e7e2694a 100644
--- a/src/drivers/md25/md25.cpp
+++ b/src/drivers/md25/md25.cpp
@@ -49,6 +49,7 @@
 
 #include <systemlib/err.h>
 #include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
 
 // registers
 enum {
@@ -73,6 +74,9 @@ enum {
 	REG_COMMAND_RW,
 };
 
+// File descriptors
+static int mavlink_fd;
+
 MD25::MD25(const char *deviceName, int bus,
 	   uint16_t address, uint32_t speed) :
 	I2C("MD25", deviceName, bus, address, speed),
@@ -579,6 +583,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address)
 		usleep(1000000 * dt);
 		t += dt;
 		float speed_rpm = 60*(md25.getRevolutions1() - prev_revolution)/dt;
+		mavlink_log_info(mavlink_fd, "rpm: %10.4f\n", (double)speed_rpm);
 		md25.readData();
 		if (t > 2.0f) break;
 	}
-- 
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