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sdlog2: Log actuator output group 1 as well #3413

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sdlog2: Log actuator output group 1 as well #3413

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14 changes: 11 additions & 3 deletions src/modules/sdlog2/sdlog2.c
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Expand Up @@ -1116,7 +1116,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_STAT_s log_STAT;
struct log_VTOL_s log_VTOL;
struct log_RC_s log_RC;
struct log_OUT0_s log_OUT0;
struct log_OUT_s log_OUT;
struct log_AIRS_s log_AIRS;
struct log_ARSP_s log_ARSP;
struct log_FLOW_s log_FLOW;
Expand Down Expand Up @@ -1160,6 +1160,7 @@ int sdlog2_thread_main(int argc, char *argv[])
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_outputs_1_sub;
int act_controls_sub;
int act_controls_1_sub;
int local_pos_sub;
Expand Down Expand Up @@ -1198,6 +1199,7 @@ int sdlog2_thread_main(int argc, char *argv[])
subs.att_sp_sub = -1;
subs.rates_sp_sub = -1;
subs.act_outputs_sub = -1;
subs.act_outputs_1_sub = -1;
subs.act_controls_sub = -1;
subs.act_controls_1_sub = -1;
subs.local_pos_sub = -1;
Expand Down Expand Up @@ -1526,8 +1528,14 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ACTUATOR OUTPUTS --- */
if (copy_if_updated(ORB_ID(actuator_outputs), &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);
memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
LOGBUFFER_WRITE_AND_COUNT(OUT);
}

if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_1_sub, &buf.act_outputs)) {
log_msg.msg_type = LOG_OUT1_MSG;
memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
LOGBUFFER_WRITE_AND_COUNT(OUT);
}

/* --- ACTUATOR CONTROL --- */
Expand Down
11 changes: 7 additions & 4 deletions src/modules/sdlog2/sdlog2_messages.h
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Expand Up @@ -195,9 +195,9 @@ struct log_RC_s {
uint32_t frame_drop;
};

/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
/* --- OUT - ACTUATOR OUTPUT --- */
#define LOG_OUT0_MSG 12
struct log_OUT0_s {
struct log_OUT_s {
float output[8];
};

Expand Down Expand Up @@ -479,6 +479,8 @@ struct log_MACS_s {
float yaw_rate_integ;
};

/* WARNING: ID 46 is already in use for ATTC1 */

/* --- CONTROL STATE --- */
#define LOG_CTS_MSG 47
struct log_CTS_s {
Expand All @@ -491,7 +493,7 @@ struct log_CTS_s {
float yaw_rate;
};

/* WARNING: ID 46 is already in use for ATTC1 */
#define LOG_OUT1_MSG 50

/********** SYSTEM MESSAGES, ID > 0x80 **********/

Expand Down Expand Up @@ -535,7 +537,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(VTOL, "f", "Arsp"),
LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT_S(OUT0, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT_S(OUT1, OUT, "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, "BffffffLLHhB", "ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
Expand Down