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logging for gyro and accell testing

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This commit is contained in:
Jason Short 2011-10-12 21:21:46 -07:00
parent be10a861c0
commit 89cf9550f2
1 changed files with 39 additions and 1 deletions
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40
ArduCopter/Log.pde
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@ -394,7 +394,6 @@ static void Log_Read_GPS()
(uint16_t)DataFlash.ReadInt()); // 8 ground course
}
// Write an raw accel/gyro data packet. Total length : 28 bytes
#if HIL_MODE != HIL_MODE_ATTITUDE
static void Log_Write_Raw()
@ -733,6 +732,45 @@ static void Log_Read_Cmd()
DataFlash.ReadLong(),
DataFlash.ReadLong());
}
/*
// Write an attitude packet. Total length : 10 bytes
static void Log_Write_Attitude2()
{
Vector3f gyro = imu.get_gyro();
Vector3f accel = imu.get_accel();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_ATTITUDE_MSG);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteLong((long)(degrees(omega.x) * 100.0));
DataFlash.WriteLong((long)(degrees(omega.y) * 100.0));
DataFlash.WriteLong((long)(accel.x * 100000));
DataFlash.WriteLong((long)(accel.y * 100000));
//DataFlash.WriteLong((long)(accel.z * 100000));
DataFlash.WriteByte(END_BYTE);
}*/
/*
// Read an attitude packet
static void Log_Read_Attitude2()
{
Serial.printf_P(PSTR("ATT, %d, %d, %ld, %ld, %1.4f, %1.4f\n"),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadLong(),
DataFlash.ReadLong(),
(float)DataFlash.ReadLong()/100000.0,
(float)DataFlash.ReadLong()/100000.0 );
}
*/
// Write an attitude packet. Total length : 10 bytes
static void Log_Write_Attitude()