From ec8438bdcab31c566f91869140505b506a4fcaf8 Mon Sep 17 00:00:00 2001 From: Nuno Marques Date: Mon, 25 Aug 2014 11:20:55 +0100 Subject: sdlog2: added vision estimate logging --- src/modules/sdlog2/sdlog2.c | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) (limited to 'src/modules/sdlog2') diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 6c4b49452..59765415a 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -934,6 +934,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct vehicle_global_position_s global_pos; struct position_setpoint_triplet_s triplet; struct vehicle_vicon_position_s vicon_pos; + struct vehicle_vision_position_s vision_pos; struct optical_flow_s flow; struct rc_channels_s rc; struct differential_pressure_s diff_pres; @@ -984,6 +985,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_EST1_s log_EST1; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; + struct log_VISN_s log_VISN; struct log_GS0A_s log_GS0A; struct log_GS0B_s log_GS0B; struct log_GS1A_s log_GS1A; @@ -1013,6 +1015,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int gps_pos_sub; int sat_info_sub; int vicon_pos_sub; + int vision_pos_sub; int flow_sub; int rc_sub; int airspeed_sub; @@ -1043,6 +1046,7 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet)); subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position)); + subs.vision_pos_sub = orb_subscribe(ORB_ID(vehicle_vision_position)); subs.flow_sub = orb_subscribe(ORB_ID(optical_flow)); subs.rc_sub = orb_subscribe(ORB_ID(rc_channels)); subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); @@ -1459,6 +1463,18 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw; LOGBUFFER_WRITE_AND_COUNT(VICN); } + + /* --- VISION POSITION --- */ + if (copy_if_updated(ORB_ID(vehicle_vision_position), subs.vision_pos_sub, &buf.vision_pos)) { + log_msg.msg_type = LOG_VISN_MSG; + log_msg.body.log_VISN.x = buf.vision_pos.x; + log_msg.body.log_VISN.y = buf.vision_pos.y; + log_msg.body.log_VISN.z = buf.vision_pos.z; + log_msg.body.log_VISN.pitch = buf.vision_pos.pitch; + log_msg.body.log_VISN.roll = buf.vision_pos.roll; + log_msg.body.log_VISN.yaw = buf.vision_pos.yaw; + LOGBUFFER_WRITE_AND_COUNT(VISN); + } /* --- FLOW --- */ if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) { @@ -1565,14 +1581,7 @@ int sdlog2_thread_main(int argc, char *argv[]) } } - /* --- BOTTOM DISTANCE --- */ - if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) { - log_msg.msg_type = LOG_DIST_MSG; - log_msg.body.log_DIST.bottom = buf.range_finder.distance; - log_msg.body.log_DIST.bottom_rate = 0.0f; - log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0); - LOGBUFFER_WRITE_AND_COUNT(DIST); - } + /* --- ESTIMATOR STATUS --- */ if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { -- cgit v1.2.3