void handle_command(struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
int param;
/* request to set different system mode */
switch (cmd->command) {
case VEHICLE_CMD_PREFLIGHT_STORAGE:
param = (int)(cmd->param3);
if (param == 1) {
sdlog2_start_log();
} else if (param == 0) {
sdlog2_stop_log();
}
break;
default:
/* silently ignore */
break;
}
}
void handle_status(struct vehicle_status_s *status)
{
if (status->flag_system_armed != flag_system_armed) {
flag_system_armed = status->flag_system_armed;
if (flag_system_armed) {
sdlog2_start_log();
} else {
sdlog2_stop_log();
}
}
}
void handle_status(struct vehicle_status_s *status)
{
// 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();
} else {
sdlog2_stop_log();
}
}
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("failed to open MAVLink log stream, start mavlink app first");
}
/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
useconds_t sleep_delay = 20000;
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
logging_enabled = false;
/* enable logging on start (-e option) */
bool log_on_start = false;
/* enable logging when armed (-a option) */
bool log_when_armed = false;
log_name_timestamp = false;
flag_system_armed = false;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
r = 1;
}
sleep_delay = 1000000 / r;
}
break;
case 'b': {
unsigned long s = strtoul(optarg, NULL, 10);
if (s < 1) {
s = 1;
}
log_buffer_size = 1024 * s;
}
break;
case 'e':
log_on_start = true;
break;
case 'a':
log_when_armed = true;
break;
case 't':
log_name_timestamp = true;
break;
case '?':
if (optopt == 'c') {
warnx("option -%c requires an argument", optopt);
} else if (isprint(optopt)) {
warnx("unknown option `-%c'", optopt);
} else {
warnx("unknown option character `\\x%x'", optopt);
}
err_flag = true;
break;
default:
warnx("unrecognized flag");
err_flag = true;
break;
}
}
if (err_flag) {
sdlog2_usage(NULL);
}
gps_time = 0;
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret != 0 && errno != EEXIST) {
err(1, "failed creating log root dir: %s", log_root);
}
/* copy conversion scripts */
const char *converter_in = "/etc/logging/conv.zip";
char *converter_out = malloc(64);
snprintf(converter_out, 64, "%s/conv.zip", log_root);
if (file_copy(converter_in, converter_out) != OK) {
warn("unable to copy conversion scripts");
}
free(converter_out);
/* initialize log buffer with specified size */
warnx("log buffer size: %i bytes", log_buffer_size);
if (OK != logbuffer_init(&lb, log_buffer_size)) {
errx(1, "can't allocate log buffer, exiting");
}
struct vehicle_status_s buf_status;
struct vehicle_gps_position_s buf_gps_pos;
memset(&buf_status, 0, sizeof(buf_status));
memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
/* warning! using union here to save memory, elements should be used separately! */
union {
struct vehicle_command_s cmd;
struct sensor_combined_s sensor;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
struct differential_pressure_s diff_pres;
struct airspeed_s airspeed;
struct esc_status_s esc;
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
struct estimator_status_report estimator_status;
struct system_power_s system_power;
struct servorail_status_s servorail_status;
} buf;
memset(&buf, 0, sizeof(buf));
/* log message buffer: header + body */
#pragma pack(push, 1)
struct {
LOG_PACKET_HEADER;
union {
struct log_TIME_s log_TIME;
struct log_ATT_s log_ATT;
struct log_ATSP_s log_ATSP;
struct log_IMU_s log_IMU;
struct log_SENS_s log_SENS;
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
struct log_GPOS_s log_GPOS;
struct log_GPSP_s log_GPSP;
struct log_ESC_s log_ESC;
struct log_GVSP_s log_GVSP;
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GSN0_s log_GSN0;
struct log_GSN1_s log_GSN1;
} body;
} log_msg = {
LOG_PACKET_HEADER_INIT(0)
};
#pragma pack(pop)
memset(&log_msg.body, 0, sizeof(log_msg.body));
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
int range_finder_sub;
int estimator_status_sub;
int system_power_sub;
int servorail_status_sub;
} subs;
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
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.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));
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
subs.estimator_status_sub = orb_subscribe(ORB_ID(estimator_status));
subs.system_power_sub = orb_subscribe(ORB_ID(system_power));
subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status));
thread_running = true;
/* initialize thread synchronization */
pthread_mutex_init(&logbuffer_mutex, NULL);
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
hrt_abstime gyro_timestamp = 0;
hrt_abstime accelerometer_timestamp = 0;
hrt_abstime magnetometer_timestamp = 0;
hrt_abstime barometer_timestamp = 0;
hrt_abstime differential_pressure_timestamp = 0;
/* enable logging on start if needed */
if (log_on_start) {
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_gps_usec;
}
}
sdlog2_start_log();
}
while (!main_thread_should_exit) {
usleep(sleep_delay);
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
handle_command(&buf.cmd);
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (status_updated) {
if (log_when_armed) {
handle_status(&buf_status);
}
}
/* --- GPS POSITION - LOG MANAGEMENT --- */
bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
if (gps_pos_updated && log_name_timestamp) {
gps_time = buf_gps_pos.time_gps_usec;
}
if (!logging_enabled) {
continue;
}
pthread_mutex_lock(&logbuffer_mutex);
/* write time stamp message */
log_msg.msg_type = LOG_TIME_MSG;
log_msg.body.log_TIME.t = hrt_absolute_time();
LOGBUFFER_WRITE_AND_COUNT(TIME);
/* --- VEHICLE STATUS --- */
if (status_updated) {
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;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
/* --- GPS POSITION --- */
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s;
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
/* log the SNR of each satellite for a detailed view of signal quality */
log_msg.msg_type = LOG_GSN0_MSG;
/* pick the smaller number so we do not overflow any of the arrays */
unsigned gps_msg_max_snr = sizeof(buf_gps_pos.satellite_snr) / sizeof(buf_gps_pos.satellite_snr[0]);
unsigned log_max_snr = sizeof(log_msg.body.log_GSN0.satellite_snr) / sizeof(log_msg.body.log_GSN0.satellite_snr[0]);
unsigned sat_max_snr = (gps_msg_max_snr < log_max_snr) ? gps_msg_max_snr : log_max_snr;
for (unsigned i = 0; i < sat_max_snr; i++) {
log_msg.body.log_GSN0.satellite_snr[i] = buf_gps_pos.satellite_snr[i];
}
LOGBUFFER_WRITE_AND_COUNT(GSN0);
}
/* --- SENSOR COMBINED --- */
if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.timestamp != gyro_timestamp) {
gyro_timestamp = buf.sensor.timestamp;
write_IMU = true;
}
if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
write_IMU = true;
}
if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
write_IMU = true;
}
if (buf.sensor.baro_timestamp != barometer_timestamp) {
barometer_timestamp = buf.sensor.baro_timestamp;
write_SENS = true;
}
if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
write_SENS = true;
}
if (write_IMU) {
log_msg.msg_type = LOG_IMU_MSG;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2];
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
if (write_SENS) {
log_msg.msg_type = LOG_SENS_MSG;
log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
/* --- ATTITUDE --- */
if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
log_msg.body.log_ATT.yaw = buf.att.yaw;
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
log_msg.body.log_ATT.gx = buf.att.g_comp[0];
log_msg.body.log_ATT.gy = buf.att.g_comp[1];
log_msg.body.log_ATT.gz = buf.att.g_comp[2];
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
/* --- ATTITUDE SETPOINT --- */
if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) {
log_msg.msg_type = LOG_ATSP_MSG;
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);
}
/* --- RATES SETPOINT --- */
if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) {
log_msg.msg_type = LOG_ARSP_MSG;
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
LOGBUFFER_WRITE_AND_COUNT(ARSP);
}
/* --- ACTUATOR OUTPUTS --- */
if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) {
log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
}
/* --- ACTUATOR CONTROL --- */
if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) {
log_msg.msg_type = LOG_ATTC_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- LOCAL POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) {
log_msg.msg_type = LOG_LPOS_MSG;
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;
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
(buf.local_pos.z_valid ? 2 : 0) |
(buf.local_pos.v_xy_valid ? 4 : 0) |
(buf.local_pos.v_z_valid ? 8 : 0) |
(buf.local_pos.xy_global ? 16 : 0) |
(buf.local_pos.z_global ? 32 : 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);
log_msg.body.log_LPOS.eph = buf.local_pos.eph;
log_msg.body.log_LPOS.epv = buf.local_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}
/* --- LOCAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
log_msg.msg_type = LOG_LPSP_MSG;
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
LOGBUFFER_WRITE_AND_COUNT(LPSP);
}
/* --- GLOBAL POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) {
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
log_msg.body.log_GPOS.eph = buf.global_pos.eph;
log_msg.body.log_GPOS.epv = buf.global_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- GLOBAL POSITION SETPOINT --- */
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.alt = buf.triplet.current.alt;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.type = buf.triplet.current.type;
log_msg.body.log_GPSP.loiter_radius = buf.triplet.current.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.triplet.current.loiter_direction;
log_msg.body.log_GPSP.pitch_min = buf.triplet.current.pitch_min;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
/* --- VICON POSITION --- */
if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
log_msg.msg_type = LOG_VICN_MSG;
log_msg.body.log_VICN.x = buf.vicon_pos.x;
log_msg.body.log_VICN.y = buf.vicon_pos.y;
log_msg.body.log_VICN.z = buf.vicon_pos.z;
log_msg.body.log_VICN.pitch = buf.vicon_pos.pitch;
log_msg.body.log_VICN.roll = buf.vicon_pos.roll;
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
LOGBUFFER_WRITE_AND_COUNT(VICN);
}
/* --- FLOW --- */
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.quality = buf.flow.quality;
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
}
/* --- RC CHANNELS --- */
if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
log_msg.body.log_RC.channel_count = buf.rc.chan_count;
log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
LOGBUFFER_WRITE_AND_COUNT(RC);
}
/* --- AIRSPEED --- */
if (copy_if_updated(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;
log_msg.body.log_AIRS.air_temperature_celsius = buf.airspeed.air_temperature_celsius;
LOGBUFFER_WRITE_AND_COUNT(AIRS);
}
/* --- ESCs --- */
if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) {
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;
log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
log_msg.body.log_ESC.esc_num = i;
log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
LOGBUFFER_WRITE_AND_COUNT(ESC);
}
}
/* --- GLOBAL VELOCITY SETPOINT --- */
if (copy_if_updated(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);
}
/* --- BATTERY --- */
if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) {
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
log_msg.body.log_BATT.current = buf.battery.current_a;
log_msg.body.log_BATT.discharged = buf.battery.discharged_mah;
LOGBUFFER_WRITE_AND_COUNT(BATT);
}
/* --- SYSTEM POWER RAILS --- */
if (copy_if_updated(ORB_ID(system_power), subs.system_power_sub, &buf.system_power)) {
log_msg.msg_type = LOG_PWR_MSG;
log_msg.body.log_PWR.peripherals_5v = buf.system_power.voltage5V_v;
log_msg.body.log_PWR.usb_ok = buf.system_power.usb_connected;
log_msg.body.log_PWR.brick_ok = buf.system_power.brick_valid;
log_msg.body.log_PWR.servo_ok = buf.system_power.servo_valid;
log_msg.body.log_PWR.low_power_rail_overcurrent = buf.system_power.periph_5V_OC;
log_msg.body.log_PWR.high_power_rail_overcurrent = buf.system_power.hipower_5V_OC;
/* copy servo rail status topic here too */
orb_copy(ORB_ID(servorail_status), subs.servorail_status_sub, &buf.servorail_status);
log_msg.body.log_PWR.servo_rail_5v = buf.servorail_status.voltage_v;
log_msg.body.log_PWR.servo_rssi = buf.servorail_status.rssi_v;
LOGBUFFER_WRITE_AND_COUNT(PWR);
}
/* --- TELEMETRY --- */
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG;
log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
log_msg.body.log_TELE.noise = buf.telemetry.noise;
log_msg.body.log_TELE.remote_noise = buf.telemetry.remote_noise;
log_msg.body.log_TELE.rxerrors = buf.telemetry.rxerrors;
log_msg.body.log_TELE.fixed = buf.telemetry.fixed;
log_msg.body.log_TELE.txbuf = buf.telemetry.txbuf;
LOGBUFFER_WRITE_AND_COUNT(TELE);
}
/* --- 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)) {
log_msg.msg_type = LOG_ESTM_MSG;
unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
LOGBUFFER_WRITE_AND_COUNT(ESTM);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */
pthread_cond_signal(&logbuffer_cond);
}
/* unlock, now the writer thread may run */
pthread_mutex_unlock(&logbuffer_mutex);
}
if (logging_enabled) {
sdlog2_stop_log();
}
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
free(lb.data);
warnx("exiting");
thread_running = false;
return 0;
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (mavlink_fd < 0) {
warnx("failed to open MAVLink log stream, start mavlink app first.");
}
/* log buffer size */
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
int ch;
while ((ch = getopt(argc, argv, "r:b:ea")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
sleep_delay = 0;
} else {
sleep_delay = 1000000 / r;
}
}
break;
case 'b': {
unsigned long s = strtoul(optarg, NULL, 10);
if (s < 1) {
s = 1;
}
log_buffer_size = 1024 * s;
}
break;
case 'e':
log_on_start = true;
break;
case 'a':
log_when_armed = true;
break;
case '?':
if (optopt == 'c') {
warnx("Option -%c requires an argument.", optopt);
} else if (isprint(optopt)) {
warnx("Unknown option `-%c'.", optopt);
} else {
warnx("Unknown option character `\\x%x'.", optopt);
}
default:
sdlog2_usage("unrecognized flag");
errx(1, "exiting.");
}
}
if (!file_exist(mountpoint)) {
errx(1, "logging mount point %s not present, exiting.", mountpoint);
}
if (create_logfolder()) {
errx(1, "unable to create logging folder, exiting.");
}
const char *converter_in = "/etc/logging/conv.zip";
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 */
warnx("logging to directory: %s", folder_path);
/* initialize log buffer with specified size */
warnx("log buffer size: %i bytes.", log_buffer_size);
if (OK != logbuffer_init(&lb, log_buffer_size)) {
errx(1, "can't allocate log buffer, exiting.");
}
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! */
union {
struct vehicle_command_s cmd;
struct sensor_combined_s sensor;
struct vehicle_attitude_s att;
struct vehicle_attitude_setpoint_s att_sp;
struct vehicle_rates_setpoint_s rates_sp;
struct actuator_outputs_s act_outputs;
struct actuator_controls_s act_controls;
struct actuator_controls_effective_s act_controls_effective;
struct vehicle_local_position_s local_pos;
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct vehicle_global_position_setpoint_s global_pos_sp;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
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 {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int act_controls_effective_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int global_pos_sp_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
} subs;
/* log message buffer: header + body */
#pragma pack(push, 1)
struct {
LOG_PACKET_HEADER;
union {
struct log_TIME_s log_TIME;
struct log_ATT_s log_ATT;
struct log_ATSP_s log_ATSP;
struct log_IMU_s log_IMU;
struct log_SENS_s log_SENS;
struct log_LPOS_s log_LPOS;
struct log_LPSP_s log_LPSP;
struct log_GPS_s log_GPS;
struct log_ATTC_s log_ATTC;
struct log_STAT_s log_STAT;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
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)
};
#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;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VEHICLE STATUS --- */
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
fds[fdsc_count].fd = subs.status_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS COMBINED --- */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE --- */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT --- */
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.att_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RATES SETPOINT --- */
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
fds[fdsc_count].fd = subs.rates_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL --- */
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.act_controls_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL EFFECTIVE --- */
subs.act_controls_effective_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
fds[fdsc_count].fd = subs.act_controls_effective_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION SETPOINT --- */
subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
fds[fdsc_count].fd = subs.local_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.global_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
fds[fdsc_count].fd = subs.global_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- OPTICAL FLOW --- */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RC CHANNELS --- */
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
fds[fdsc_count].fd = subs.rc_sub;
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++;
/* --- ESCs --- */
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
fds[fdsc_count].fd = subs.esc_sub;
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.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d.", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms
*/
const int poll_timeout = 1000;
thread_running = true;
/* initialize thread synchronization */
pthread_mutex_init(&logbuffer_mutex, NULL);
pthread_cond_init(&logbuffer_cond, NULL);
/* track changes in sensor_combined topic */
uint16_t gyro_counter = 0;
uint16_t accelerometer_counter = 0;
uint16_t magnetometer_counter = 0;
uint16_t baro_counter = 0;
uint16_t differential_pressure_counter = 0;
/* enable logging on start if needed */
if (log_on_start)
sdlog2_start_log();
while (!main_thread_should_exit) {
/* decide use usleep() or blocking poll() */
bool use_sleep = sleep_delay > 0 && logging_enabled;
/* poll all topics if logging enabled or only management (first 2) if not */
int poll_ret = poll(fds, logging_enabled ? fdsc_count : 2, use_sleep ? 0 : poll_timeout);
/* handle the poll result */
if (poll_ret < 0) {
warnx("ERROR: poll error, stop logging.");
main_thread_should_exit = true;
} else if (poll_ret > 0) {
/* check all data subscriptions only if logging enabled,
* logging_enabled can be changed while checking vehicle_command and vehicle_status */
bool check_data = logging_enabled;
int ifds = 0;
int handled_topics = 0;
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
handle_command(&buf.cmd);
handled_topics++;
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (log_when_armed) {
handle_status(&buf_status);
}
handled_topics++;
}
if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
continue;
}
ifds = 1; // begin from fds[1] again
pthread_mutex_lock(&logbuffer_mutex);
/* write time stamp message */
log_msg.msg_type = LOG_TIME_MSG;
log_msg.body.log_TIME.t = hrt_absolute_time();
LOGBUFFER_WRITE_AND_COUNT(TIME);
/* --- VEHICLE STATUS --- */
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.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 = (uint8_t) buf_status.battery_warning;
log_msg.body.log_STAT.landed = (uint8_t) buf_status.condition_landed;
LOGBUFFER_WRITE_AND_COUNT(STAT);
}
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf.gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
log_msg.body.log_GPS.lat = buf.gps_pos.lat;
log_msg.body.log_GPS.lon = buf.gps_pos.lon;
log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
}
/* --- SENSOR COMBINED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
bool write_IMU = false;
bool write_SENS = false;
if (buf.sensor.gyro_counter != gyro_counter) {
gyro_counter = buf.sensor.gyro_counter;
write_IMU = true;
}
if (buf.sensor.accelerometer_counter != accelerometer_counter) {
accelerometer_counter = buf.sensor.accelerometer_counter;
write_IMU = true;
}
if (buf.sensor.magnetometer_counter != magnetometer_counter) {
magnetometer_counter = buf.sensor.magnetometer_counter;
write_IMU = true;
}
if (buf.sensor.baro_counter != baro_counter) {
baro_counter = buf.sensor.baro_counter;
write_SENS = true;
}
if (buf.sensor.differential_pressure_counter != differential_pressure_counter) {
differential_pressure_counter = buf.sensor.differential_pressure_counter;
write_SENS = true;
}
if (write_IMU) {
log_msg.msg_type = LOG_IMU_MSG;
log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2];
log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
LOGBUFFER_WRITE_AND_COUNT(IMU);
}
if (write_SENS) {
log_msg.msg_type = LOG_SENS_MSG;
log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
LOGBUFFER_WRITE_AND_COUNT(SENS);
}
}
/* --- ATTITUDE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
log_msg.body.log_ATT.yaw = buf.att.yaw;
log_msg.body.log_ATT.roll_rate = buf.att.rollspeed;
log_msg.body.log_ATT.pitch_rate = buf.att.pitchspeed;
log_msg.body.log_ATT.yaw_rate = buf.att.yawspeed;
LOGBUFFER_WRITE_AND_COUNT(ATT);
}
/* --- ATTITUDE SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp);
log_msg.msg_type = LOG_ATSP_MSG;
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);
}
/* --- RATES SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
log_msg.msg_type = LOG_ARSP_MSG;
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
log_msg.body.log_ARSP.yaw_rate_sp = buf.rates_sp.yaw;
LOGBUFFER_WRITE_AND_COUNT(ARSP);
}
/* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
}
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls);
log_msg.msg_type = LOG_ATTC_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
log_msg.body.log_ATTC.yaw = buf.act_controls.control[2];
log_msg.body.log_ATTC.thrust = buf.act_controls.control[3];
LOGBUFFER_WRITE_AND_COUNT(ATTC);
}
/* --- ACTUATOR CONTROL EFFECTIVE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.act_controls_effective_sub, &buf.act_controls_effective);
// TODO not implemented yet
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
log_msg.msg_type = LOG_LPOS_MSG;
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.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.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);
}
/* --- LOCAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp);
log_msg.msg_type = LOG_LPSP_MSG;
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
log_msg.body.log_LPSP.z = buf.local_pos_sp.z;
log_msg.body.log_LPSP.yaw = buf.local_pos_sp.yaw;
LOGBUFFER_WRITE_AND_COUNT(LPSP);
}
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat;
log_msg.body.log_GPOS.lon = buf.global_pos.lon;
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
log_msg.body.log_GPOS.vel_n = buf.global_pos.vx;
log_msg.body.log_GPOS.vel_e = buf.global_pos.vy;
log_msg.body.log_GPOS.vel_d = buf.global_pos.vz;
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position_setpoint), subs.global_pos_sp_sub, &buf.global_pos_sp);
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.altitude_is_relative = buf.global_pos_sp.altitude_is_relative;
log_msg.body.log_GPSP.lat = buf.global_pos_sp.lat;
log_msg.body.log_GPSP.lon = buf.global_pos_sp.lon;
log_msg.body.log_GPSP.altitude = buf.global_pos_sp.altitude;
log_msg.body.log_GPSP.yaw = buf.global_pos_sp.yaw;
log_msg.body.log_GPSP.loiter_radius = buf.global_pos_sp.loiter_radius;
log_msg.body.log_GPSP.loiter_direction = buf.global_pos_sp.loiter_direction;
log_msg.body.log_GPSP.nav_cmd = buf.global_pos_sp.nav_cmd;
log_msg.body.log_GPSP.param1 = buf.global_pos_sp.param1;
log_msg.body.log_GPSP.param2 = buf.global_pos_sp.param2;
log_msg.body.log_GPSP.param3 = buf.global_pos_sp.param3;
log_msg.body.log_GPSP.param4 = buf.global_pos_sp.param4;
LOGBUFFER_WRITE_AND_COUNT(GPSP);
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
// TODO not implemented yet
}
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
log_msg.body.log_FLOW.flow_comp_x = buf.flow.flow_comp_x_m;
log_msg.body.log_FLOW.flow_comp_y = buf.flow.flow_comp_y_m;
log_msg.body.log_FLOW.distance = buf.flow.ground_distance_m;
log_msg.body.log_FLOW.quality = buf.flow.quality;
log_msg.body.log_FLOW.sensor_id = buf.flow.sensor_id;
LOGBUFFER_WRITE_AND_COUNT(FLOW);
}
/* --- RC CHANNELS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
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);
}
/* --- 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++) {
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;
log_msg.body.log_ESC.esc_connectiontype = buf.esc.esc_connectiontype;
log_msg.body.log_ESC.esc_num = i;
log_msg.body.log_ESC.esc_address = buf.esc.esc[i].esc_address;
log_msg.body.log_ESC.esc_version = buf.esc.esc[i].esc_version;
log_msg.body.log_ESC.esc_voltage = buf.esc.esc[i].esc_voltage;
log_msg.body.log_ESC.esc_current = buf.esc.esc[i].esc_current;
log_msg.body.log_ESC.esc_rpm = buf.esc.esc[i].esc_rpm;
log_msg.body.log_ESC.esc_temperature = buf.esc.esc[i].esc_temperature;
log_msg.body.log_ESC.esc_setpoint = buf.esc.esc[i].esc_setpoint;
log_msg.body.log_ESC.esc_setpoint_raw = buf.esc.esc[i].esc_setpoint_raw;
LOGBUFFER_WRITE_AND_COUNT(ESC);
}
}
/* --- 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) {
/* only request write if several packets can be written at once */
pthread_cond_signal(&logbuffer_cond);
}
/* unlock, now the writer thread may run */
pthread_mutex_unlock(&logbuffer_mutex);
}
if (use_sleep) {
usleep(sleep_delay);
}
}
if (logging_enabled)
sdlog2_stop_log();
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
free(lb.data);
warnx("exiting.");
thread_running = false;
return 0;
}