From 5c08a1aeaca2c86b66ee1ad05b0178ff214847e1 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 13 Apr 2014 23:32:52 +0200 Subject: Untangled local pos and distance messages, now sending distance messages only for actual distance measuring devices --- src/modules/sdlog2/sdlog2.c | 18 +++--------------- src/modules/sdlog2/sdlog2_messages.h | 5 ++++- 2 files changed, 7 insertions(+), 16 deletions(-) (limited to 'src/modules/sdlog2') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 1bf6f1de3..611491cf9 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -908,9 +908,6 @@ int sdlog2_thread_main(int argc, char *argv[]) hrt_abstime barometer_timestamp = 0; hrt_abstime differential_pressure_timestamp = 0; - /* track changes in distance status */ - bool dist_bottom_present = false; - /* enable logging on start if needed */ if (log_on_start) { /* check GPS topic to get GPS time */ @@ -1099,6 +1096,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.x = buf.local_pos.x; log_msg.body.log_LPOS.y = buf.local_pos.y; log_msg.body.log_LPOS.z = buf.local_pos.z; + log_msg.body.log_LPOS.ground_dist = buf.local_pos.dist_bottom; + log_msg.body.log_LPOS.ground_dist_rate = buf.local_pos.dist_bottom_rate; 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; @@ -1108,19 +1107,8 @@ int sdlog2_thread_main(int argc, char *argv[]) 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; + log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); LOGBUFFER_WRITE_AND_COUNT(LPOS); - - if (buf.local_pos.dist_bottom_valid) { - dist_bottom_present = true; - } - - if (dist_bottom_present) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom; - log_msg.body.log_DIST.bottom_rate = buf.local_pos.dist_bottom_rate; - log_msg.body.log_DIST.flags = (buf.local_pos.dist_bottom_valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } } /* --- LOCAL POSITION SETPOINT --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index d0585df39..2538dcd2f 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -101,6 +101,8 @@ struct log_LPOS_s { float x; float y; float z; + float ground_dist; + float ground_dist_rate; float vx; float vy; float vz; @@ -110,6 +112,7 @@ struct log_LPOS_s { uint8_t xy_flags; uint8_t z_flags; uint8_t landed; + uint8_t ground_dist_flags; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -343,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "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"), -- cgit v1.2.3 From 65e2062d7b19f5a95194b574b195efcc4817b388 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 20:56:02 +0200 Subject: sdlog2: fix lpos labels string, shorten messages with excessive length --- src/modules/sdlog2/sdlog2_messages.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/modules/sdlog2') diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 2538dcd2f..affabe125 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), 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"), @@ -363,8 +363,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"), - LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_stat,stat_nan,cov_nan,kgain_nan"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), /* system-level messages, ID >= 0x80 */ -- cgit v1.2.3 From 6297b451ba7dab299576f1d30c565e49b893ba5d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 21:00:24 +0200 Subject: sdlog2: Fix indendation to expose length better, cut string lengths for excessive strings --- src/modules/sdlog2/sdlog2_messages.h | 48 ++++++++++++++++++------------------ 1 file changed, 24 insertions(+), 24 deletions(-) (limited to 'src/modules/sdlog2') diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index affabe125..21d407d63 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -342,30 +342,30 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), - LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), - LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), - LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), - 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, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), - LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), - LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), - LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), - LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), - LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), - LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), - LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), - LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), - LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), - LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_stat,stat_nan,cov_nan,kgain_nan"), - LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), - LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), + LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), + 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, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), + LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), + LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), + LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), + LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), + LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLfffffB", "Lat,Lon,Alt,VelN,VelE,VelD,BaroAlt,Flags"), + LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), + LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"), + LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), + LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), + LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), + LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ -- cgit v1.2.3 From 5e32ca29d553b5706bbc2eb2f8905d0992ad3570 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 21 Apr 2014 21:25:54 +0200 Subject: Fixed LPOS message in log, added ground flags field --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/sdlog2') diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 21d407d63..28d0706ff 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -346,7 +346,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), - LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distr,VX,VY,VZ,RLat,RLon,RAlt,XYFlag,ZFlag,LFlag"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), 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"), -- cgit v1.2.3 From a1cf8801bb000e38d11b4573d7cde452f02abbc3 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Tue, 22 Apr 2014 11:36:25 +0200 Subject: sdlog2: add failsafe state logging --- 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') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index e026753dc..1ca8cf8c5 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -960,6 +960,7 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.msg_type = LOG_STAT_MSG; log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state; log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state; + log_msg.body.log_STAT.failsafe_state = (uint8_t) buf_status.failsafe_state; log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining; 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; diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 9a02fa2a6..753438d7b 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -154,6 +154,7 @@ struct log_ATTC_s { struct log_STAT_s { uint8_t main_state; uint8_t arming_state; + uint8_t failsafe_state; float battery_remaining; uint8_t battery_warning; uint8_t landed; @@ -350,7 +351,7 @@ static const struct log_format_s log_formats[] = { 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, "BBfBB", "MainState,ArmState,BatRem,BatWarn,Landed"), + LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), -- cgit v1.2.3