adding the camera trigger logging to sd card

src/modules/sdlog2/sdlog2.c

@@ -110,6 +110,7 @@
 #include <uORB/topics/time_offset.h>
 #include <uORB/topics/mc_att_ctrl_status.h>
 #include <uORB/topics/ekf2_innovations.h>
+#include <uORB/topics/camera_trigger.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
@@ -1112,6 +1113,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		struct mc_att_ctrl_status_s mc_att_ctrl_status;
 		struct control_state_s ctrl_state;
 		struct ekf2_innovations_s innovations;
+		struct camera_trigger_s camera_trigger;
 	} buf;
 
 	memset(&buf, 0, sizeof(buf));
@@ -1163,6 +1165,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_CTS_s log_CTS;
 			struct log_EST4_s log_INO1;
 			struct log_EST5_s log_INO2;
+			struct log_CAMT_s log_CAMT;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1208,6 +1211,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int mc_att_ctrl_status_sub;
 		int ctrl_state_sub;
 		int innov_sub;
+		int cam_trig_sub;
 	} subs;
 
 	subs.cmd_sub = -1;
@@ -1245,6 +1249,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.ctrl_state_sub = -1;
 	subs.encoders_sub = -1;
 	subs.innov_sub = -1;
+	subs.cam_trig_sub = -1;
 
 	/* add new topics HERE */
 
@@ -1935,6 +1940,14 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(CTS);
 		}
 
+		/* --- CAMERA TRIGGER --- */
+		if (copy_if_updated(ORB_ID(camera_trigger), &subs.cam_trig_sub, &buf.camera_trigger)) {
+			log_msg.msg_type = LOG_CAMT_MSG;
+			log_msg.body.log_CAMT.timestamp = buf.camera_trigger.timestamp;
+			log_msg.body.log_CAMT.seq = buf.camera_trigger.seq;
+			LOGBUFFER_WRITE_AND_COUNT(CAMT);
+		}
+
 		/* 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 */

src/modules/sdlog2/sdlog2_messages.h

@@ -508,6 +508,13 @@ struct log_CTS_s {
 	float yaw_rate;
 };
 
+/* --- CAMERA TRIGGER --- */
+#define LOG_CAMT_MSG 48
+struct log_CAMT_s {
+	uint64_t timestamp;
+	uint32_t seq;
+};
+
 #define LOG_OUT1_MSG 50
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
@@ -585,6 +592,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ENCD, "qfqf",	"cnt0,vel0,cnt1,vel1"),
 	LOG_FORMAT(TSYN, "Q", 		"TimeOffset"),
 	LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
+	LOG_FORMAT(CAMT, "if", "timestamp,seq"),
 
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */

src/platforms/px4_includes.h

@@ -99,6 +99,7 @@
 #include <platforms/nuttx/px4_messages/px4_position_setpoint_triplet.h>
 #include <platforms/nuttx/px4_messages/px4_offboard_control_mode.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_force_setpoint.h>
+#include <platforms/nuttx/px4_messages/px4_camera_trigger.h>
 #endif
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>