Merge pull request #315 from DrTon/sdlog2

sdlog2: FLOW message added

src/modules/sdlog2/sdlog2.c

@@ -684,6 +684,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_OUT0_s log_OUT0;
 			struct log_AIRS_s log_AIRS;
 			struct log_ARSP_s log_ARSP;
+			struct log_FLOW_s log_FLOW;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1067,7 +1068,15 @@ int sdlog2_thread_main(int argc, char *argv[])
 			/* --- FLOW --- */
 			if (fds[ifds++].revents & POLLIN) {
 				orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
-				// TODO not implemented yet
+				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 --- */

src/modules/sdlog2/sdlog2_messages.h

@@ -186,6 +186,18 @@ struct log_ARSP_s {
 	float pitch_rate_sp;
 	float yaw_rate_sp;
 };
+
+/* --- FLOW - OPTICAL FLOW --- */
+#define LOG_FLOW_MSG 15
+struct log_FLOW_s {
+	int16_t flow_raw_x;
+	int16_t flow_raw_y;
+	float flow_comp_x;
+	float flow_comp_y;
+	float distance;
+	uint8_t	quality;
+	uint8_t sensor_id;
+};
 #pragma pack(pop)
 
 /* construct list of all message formats */
@@ -205,6 +217,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
 	LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
+	LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);

src/modules/uORB/topics/optical_flow.h

@@ -57,8 +57,8 @@ struct optical_flow_s {
 
 	uint64_t timestamp;		/**< in microseconds since system start          */
 
-	uint16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
+	int16_t flow_raw_x;		/**< flow in pixels in X direction, not rotation-compensated */
-	uint16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
+	int16_t flow_raw_y;		/**< flow in pixels in Y direction, not rotation-compensated */
 	float flow_comp_x_m;		/**< speed over ground in meters, rotation-compensated */
 	float flow_comp_y_m;		/**< speed over ground in meters, rotation-compensated */
 	float ground_distance_m;	/**< Altitude / distance to ground in meters */