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Better CTUN Logging

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1890 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-16 20:39:56 +00:00
parent a693a33164
commit 7ed78fd40b
1 changed files with 35 additions and 17 deletions
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52
ArduCopterMega/Log.pde
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@ -388,20 +388,29 @@ void Log_Write_Startup(byte type)
#if HIL_MODE != HIL_MODE_ATTITUDE
void Log_Write_Control_Tuning()
{
Vector3f accel = imu.get_accel();
DataFlash.WriteByte(HEAD_BYTE1);
DataFlash.WriteByte(HEAD_BYTE2);
DataFlash.WriteByte(LOG_CONTROL_TUNING_MSG);
// Control
DataFlash.WriteInt((int)(g.rc_1.servo_out));
DataFlash.WriteInt((int)nav_roll);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)(g.rc_2.servo_out));
DataFlash.WriteInt((int)nav_pitch);
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteInt((int)(g.rc_3.servo_out));
DataFlash.WriteInt((int)(g.rc_4.servo_out));
DataFlash.WriteInt((int)(accel.y * 10000));
// Yaw mode
DataFlash.WriteByte(yaw_debug);
// Gyro Rates
DataFlash.WriteInt((int)(omega.x * 1000));
DataFlash.WriteInt((int)(omega.y * 1000));
DataFlash.WriteInt((int)(omega.z * 1000));
// Position
DataFlash.WriteInt((int)dcm.pitch_sensor);
DataFlash.WriteInt((int)dcm.roll_sensor);
DataFlash.WriteInt((int)(dcm.yaw_sensor/10));
DataFlash.WriteByte(END_BYTE);
}
#endif
@ -499,17 +508,26 @@ void Log_Read_Current()
// Read an control tuning packet
void Log_Read_Control_Tuning()
{
float logvar;
Serial.printf_P(PSTR("CTUN: %d, %d, %d, %d, %d, %1.4f, %1.4f, %1.4f, %d, %d, %ld\n"),
// Control
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
DataFlash.ReadInt(),
// Yaw Mode
(int)DataFlash.ReadByte(),
// Gyro Rates
(float)DataFlash.ReadInt() / 1000.0,
(float)DataFlash.ReadInt() / 1000.0,
(float)DataFlash.ReadInt() / 1000.0,
// Position
DataFlash.ReadInt(),
DataFlash.ReadInt(),
(long)DataFlash.ReadInt() * 10);
Serial.printf_P(PSTR("CTUN:"));
for (int y = 1; y < 10; y++) {
logvar = DataFlash.ReadInt();
if(y < 8) logvar = logvar/100.f;
if(y == 9) logvar = logvar/10000.f;
Serial.print(logvar);
Serial.print(comma);
}
Serial.println(" ");
}
// Read a nav tuning packet