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Better logging for Raw Inertial values
This commit is contained in:
Jason Short 2012-07-18 22:47:18 -07:00
parent bfabc54b01
commit a53a0a51be
1 changed files with 30 additions and 14 deletions
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44
ArduCopter/Log.pde
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@ -296,17 +296,16 @@ static void Log_Write_Raw()
DataFlash.WriteByte(HEAD_BYTE2); DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_RAW_MSG); DataFlash.WriteByte(LOG_RAW_MSG);
DataFlash.WriteLong(get_int(accels_offset.x));
DataFlash.WriteLong(get_int(accels_velocity.x)); DataFlash.WriteLong(get_int(accels_velocity.x));
DataFlash.WriteLong(get_int(speed_error.x)); DataFlash.WriteInt(x_actual_speed);
DataFlash.WriteLong(get_int(accels_velocity.y));
DataFlash.WriteLong(get_int(accels_offset.z)); DataFlash.WriteInt(y_actual_speed);
DataFlash.WriteLong(get_int(accels_velocity.z)); DataFlash.WriteLong(get_int(accels_velocity.z));
DataFlash.WriteLong(get_int(speed_error.z)); DataFlash.WriteInt(climb_rate_actual);
DataFlash.WriteLong(get_int(accel.x)); //DataFlash.WriteLong(get_int(accel.x));
DataFlash.WriteLong(get_int(accel.y)); //DataFlash.WriteLong(get_int(accel.y));
DataFlash.WriteLong(get_int(accel.z)); //DataFlash.WriteLong(get_int(accel.z));
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -314,6 +313,7 @@ static void Log_Write_Raw()
// Read a raw accel/gyro packet // Read a raw accel/gyro packet
static void Log_Read_Raw() static void Log_Read_Raw()
{ {
/*
float logvar; float logvar;
Serial.printf_P(PSTR("RAW,")); Serial.printf_P(PSTR("RAW,"));
for (int y = 0; y < 9; y++) { for (int y = 0; y < 9; y++) {
@ -322,6 +322,23 @@ static void Log_Read_Raw()
Serial.print(", "); Serial.print(", ");
} }
Serial.println(" "); Serial.println(" ");
*/
float vx = get_float(DataFlash.ReadLong());
int16_t sx = DataFlash.ReadInt();
float vy = get_float(DataFlash.ReadLong());
int16_t sy = DataFlash.ReadInt();
float vz = get_float(DataFlash.ReadLong());
int16_t sz = DataFlash.ReadInt();
Serial.printf_P(PSTR("RAW, %1.4f, %d, %1.4f, %d, %1.4f, %d\n"),
vx,
sx,
vy,
sy,
vz,
sz);
} }
#else #else
static void Log_Write_Raw() static void Log_Write_Raw()
@ -632,11 +649,10 @@ static void Log_Write_Control_Tuning()
DataFlash.WriteInt(next_WP.alt); // 4 DataFlash.WriteInt(next_WP.alt); // 4
DataFlash.WriteInt(nav_throttle); // 5 DataFlash.WriteInt(nav_throttle); // 5
DataFlash.WriteInt(angle_boost); // 6 DataFlash.WriteInt(angle_boost); // 6
DataFlash.WriteInt(manual_boost); // 7 DataFlash.WriteInt(climb_rate_actual); // 7
DataFlash.WriteInt(climb_rate_actual); // 8 DataFlash.WriteInt(g.rc_3.servo_out); // 8
DataFlash.WriteInt(g.rc_3.servo_out); // 9 DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 9
DataFlash.WriteInt(g.pi_alt_hold.get_integrator()); // 10 DataFlash.WriteInt(g.pid_throttle.get_integrator());// 10
DataFlash.WriteInt(g.pid_throttle.get_integrator());// 11
DataFlash.WriteByte(END_BYTE); DataFlash.WriteByte(END_BYTE);
} }
@ -648,7 +664,7 @@ static void Log_Read_Control_Tuning()
Serial.printf_P(PSTR("CTUN, ")); Serial.printf_P(PSTR("CTUN, "));
for(uint8_t i = 1; i < 11; i++ ){ for(uint8_t i = 1; i < 10; i++ ){
temp = DataFlash.ReadInt(); temp = DataFlash.ReadInt();
Serial.printf("%d, ", (int)temp); Serial.printf("%d, ", (int)temp);
} }