From 95236c379a3b0a551f5ac26387356ecad0a82d60 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 13 Jun 2013 06:51:09 +0400 Subject: sdlog2: ARSP (attitude rates setpoint) message added, attitude rates added to ATT message --- src/modules/sdlog2/sdlog2_messages.h | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) (limited to 'src/modules/sdlog2/sdlog2_messages.h') diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 40763ee1e..48322e0b6 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -60,6 +60,9 @@ struct log_ATT_s { float roll; float pitch; float yaw; + float roll_rate; + float pitch_rate; + float yaw_rate; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -167,13 +170,21 @@ struct log_RC_s { struct log_OUT0_s { float output[8]; }; + +/* --- ARSP - ATTITUDE RATE SET POINT --- */ +#define LOG_ARSP_MSG 13 +struct log_ARSP_s { + float roll_rate_sp; + float pitch_rate_sp; + float yaw_rate_sp; +}; #pragma pack(pop) /* construct list of all message formats */ static const struct log_format_s log_formats[] = { LOG_FORMAT(TIME, "Q", "StartTime"), - LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"), + LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"), @@ -184,6 +195,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), 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(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); -- cgit v1.2.3 From 12ac41802e663e5d9328c294df4117269764ef2a Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Sat, 15 Jun 2013 22:58:14 +0200 Subject: Log airspeed. --- src/modules/sdlog2/sdlog2.c | 17 +++++++++++++++++ src/modules/sdlog2/sdlog2_messages.h | 8 ++++++++ 2 files changed, 25 insertions(+) (limited to 'src/modules/sdlog2/sdlog2_messages.h') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index a14bd6f80..b79a07b97 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -658,6 +658,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int rc_sub; + int airspeed_sub; } subs; /* log message buffer: header + body */ @@ -677,6 +678,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_STAT_s log_STAT; struct log_RC_s log_RC; struct log_OUT0_s log_OUT0; + struct log_AIRS_s log_AIRS; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -774,6 +776,12 @@ int sdlog2_thread_main(int argc, char *argv[]) fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_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. @@ -1046,6 +1054,15 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(RC); } + /* --- AIRSPEED --- */ + if (fds[ifds++].revents & POLLIN) { + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); + log_msg.msg_type = LOG_AIRS_MSG; + log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s; + log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s; + LOGBUFFER_WRITE_AND_COUNT(AIRS); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { #ifdef SDLOG2_DEBUG diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 40763ee1e..c71f3b7e8 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -167,6 +167,13 @@ struct log_RC_s { struct log_OUT0_s { float output[8]; }; + +/* --- AIRS - AIRSPEED --- */ +#define LOG_AIRS_MSG 13 +struct log_AIRS_s { + float indicated_airspeed; + float true_airspeed; +}; #pragma pack(pop) /* construct list of all message formats */ @@ -184,6 +191,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"), 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"), }; static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); -- cgit v1.2.3 From 138ce117ab0a9b95f473f34ce8644fa6456b32a6 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 16 Jun 2013 17:20:07 +0400 Subject: ATSP.ThrustSP added --- src/modules/sdlog2/sdlog2.c | 1 + src/modules/sdlog2/sdlog2_messages.h | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) (limited to 'src/modules/sdlog2/sdlog2_messages.h') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index ca6ab5934..f67cfad87 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -976,6 +976,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body; log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body; log_msg.body.log_ATSP.yaw_sp = buf.att_sp.yaw_body; + log_msg.body.log_ATSP.thrust_sp = buf.att_sp.thrust; LOGBUFFER_WRITE_AND_COUNT(ATSP); } diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 48322e0b6..fc5687988 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -71,6 +71,7 @@ struct log_ATSP_s { float roll_sp; float pitch_sp; float yaw_sp; + float thrust_sp; }; /* --- IMU - IMU SENSORS --- */ @@ -185,7 +186,7 @@ struct log_ARSP_s { static const struct log_format_s log_formats[] = { LOG_FORMAT(TIME, "Q", "StartTime"), LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), - LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"), + 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"), -- cgit v1.2.3 From d9f30858c88f6613808d1781ce06058e88e40fa9 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 17 Jun 2013 14:46:18 +0400 Subject: sdlog2 messages ID fix --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/sdlog2/sdlog2_messages.h') diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index efb999a50..7f7bf6053 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -180,7 +180,7 @@ struct log_AIRS_s { }; /* --- ARSP - ATTITUDE RATE SET POINT --- */ -#define LOG_ARSP_MSG 13 +#define LOG_ARSP_MSG 14 struct log_ARSP_s { float roll_rate_sp; float pitch_rate_sp; -- cgit v1.2.3