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fix bug in the logging app:

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- either sensor combined or the replay topic where copied into
the union buffer but at times the memory was overwritten by other
topics which updated below
- this change makes sure that the two topics are copied into the union
buffer at the correct location in the code
This commit is contained in:
Roman
2016-04-27 21:40:07 +02:00
parent 5bcdfed203
commit 29c5c25f47
1 changed files with 9 additions and 9 deletions
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18
src/modules/sdlog2/sdlog2.c
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@@ -1405,17 +1405,17 @@ int sdlog2_thread_main(int argc, char *argv[])
continue;
}
// copy topic always
if (record_replay_log) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
} else {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
}
if ((poll_counter + 1) % poll_to_logging_factor == 0) {
// the topic will be copied below
poll_counter = 0;
} else {
// copy topic
// copy topic here in order to reset the updated flag
if (record_replay_log) {
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
} else {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
}
poll_counter++;
continue;
}
@@ -1470,7 +1470,7 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- EKF2 REPLAY --- */
if(record_replay_log) {
// we poll on the replay topic so we know that it was updated
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
log_msg.msg_type = LOG_RPL1_MSG;
log_msg.body.log_RPL1.time_ref = buf.replay.time_ref;
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
@@ -1531,7 +1531,7 @@ int sdlog2_thread_main(int argc, char *argv[])
} else { /* !record_replay_log */
/* we poll on sensor combined, so we know it has updated just now */
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
for (unsigned i = 0; i < 3; i++) {
bool write_IMU = false;
bool write_SENS = false;