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Plane : Updated NavEKF flash data logging

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Paul Riseborough 2014-01-01 18:33:54 +11:00 committed by Andrew Tridgell
parent 3ee5ef852b
commit e0e4b1aefa
1 changed files with 24 additions and 24 deletions
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48
ArduPlane/Log.pde
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@ -195,12 +195,12 @@ struct PACKED log_EKF1 {
int16_t roll;
int16_t pitch;
uint16_t yaw;
int16_t velN;
int16_t velE;
int16_t velD;
int16_t posN;
int16_t posE;
int16_t posD;
float velN;
float velE;
float velD;
float posN;
float posE;
float posD;
int8_t gyrX;
int8_t gyrY;
int8_t gyrZ;
@ -223,18 +223,18 @@ static void Log_Write_EKF1(void)
struct log_EKF1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_EKF1_MSG),
time_ms : hal.scheduler->millis(),
roll : (int16_t)(100*degrees(euler.x)),
pitch : (int16_t)(100*degrees(euler.y)),
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)),
velN : (int16_t)(100*velNED.x),
velE : (int16_t)(100*velNED.y),
velD : (int16_t)(100*velNED.z),
posN : (int16_t)(100*posNED.x),
posE : (int16_t)(100*posNED.y),
posD : (int16_t)(100*posNED.z),
gyrX : (int8_t)(gyroBias.x),
gyrY : (int8_t)(gyroBias.y),
gyrZ : (int8_t)(gyroBias.z)
roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg)
pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg)
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg)
velN : (float)(velNED.x), // velocity North (m/s)
velE : (float)(velNED.y), // velocity East (m/s)
velD : (float)(velNED.z), // velocity Down (m/s)
posN : (float)(posNED.x), // metres North
posE : (float)(posNED.y), // metres East
posD : (float)(posNED.z), // metres Down
gyrX : (int8_t)(gyroBias.x), // deg/min
gyrY : (int8_t)(gyroBias.y), // deg/min
gyrZ : (int8_t)(gyroBias.z) // deg/min
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
#endif
@ -243,9 +243,9 @@ static void Log_Write_EKF1(void)
struct PACKED log_EKF2 {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t accX;
int16_t accY;
int16_t accZ;
int8_t accX;
int8_t accY;
int8_t accZ;
int16_t windN;
int16_t windE;
int16_t magN;
@ -272,9 +272,9 @@ static void Log_Write_EKF2(void)
struct log_EKF2 pkt = {
LOG_PACKET_HEADER_INIT(LOG_EKF2_MSG),
time_ms : hal.scheduler->millis(),
accX : (int16_t)(100*accelBias.x),
accY : (int16_t)(100*accelBias.y),
accZ : (int16_t)(100*accelBias.z),
accX : (int8_t)(100*accelBias.x),
accY : (int8_t)(100*accelBias.y),
accZ : (int8_t)(100*accelBias.z),
windN : (int16_t)(100*wind.x),
windE : (int16_t)(100*wind.y),
magN : (int16_t)(magNED.x),