mirror of https://github.com/ArduPilot/ardupilot
69 lines
2.0 KiB
Lua
69 lines
2.0 KiB
Lua
-- example of logging to a file on the SD card and to data flash
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local file_name = "AHRS_DATA.csv"
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local file
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-- index for the data and table
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local roll = 1
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local pitch = 2
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local yaw = 3
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local interesting_data = {}
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local function write_to_file()
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if not file then
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error("Could not open file")
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end
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-- write data
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-- separate with comas and add a carriage return
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file:write(tostring(millis()) .. ", " .. table.concat(interesting_data,", ") .. "\n")
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-- make sure file is upto date
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file:flush()
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end
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local function write_to_dataflash()
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-- care must be taken when selecting a name, must be less than four characters and not clash with an existing log type
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-- format characters specify the type of variable to be logged, see AP_Logger/README.md
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-- https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_Logger
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-- not all format types are supported by scripting only: i, L, e, f, n, M, B, I, E, and N
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-- lua automatically adds a timestamp in micro seconds
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logger.write('SCR1','roll(deg),pitch(deg),yaw(deg)','fff',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
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-- it is also possible to give units and multipliers
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logger.write('SCR2','roll,pitch,yaw','fff','ddd','---',interesting_data[roll],interesting_data[pitch],interesting_data[yaw])
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end
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function update()
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-- get some interesting data
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interesting_data[roll] = math.deg(ahrs:get_roll())
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interesting_data[pitch] = math.deg(ahrs:get_pitch())
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interesting_data[yaw] = math.deg(ahrs:get_yaw())
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-- write to then new file the SD card
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write_to_file()
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-- write to a new log in the data flash log
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write_to_dataflash()
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return update, 1000 -- reschedules the loop
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end
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-- make a file
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-- note that this appends to the same the file each time, you will end up with a very big file
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-- you may want to make a new file each time using a unique name
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file = io.open(file_name, "a")
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if not file then
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error("Could not make file")
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end
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-- write the CSV header
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file:write('Time Stamp(ms), roll(deg), pitch(deg), yaw(deg)\n')
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file:flush()
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return update, 10000
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