void log_accel() {
flog_push(7,
(float)flight_time
,log[12]/1000.0f,log[13]/1000.0f,log[14]/1000.0f
,log[15]/1000.0f,log[16]/1000.0f,log[17]/1000.0f
);
}
void log() {
static unsigned long l = 0;
static RTIME t1=rt_timer_read();
static RTIME t2=rt_timer_read();
static unsigned long dt;
//calculate dt - time between runs in ms
t2 = rt_timer_read();
dt = (t2-t1)/1000000;
t1 = t2;
l++;
if (l%200 == 0) {
if (inflight) { //create file log only when in flight
flog_push(12
,dt,dt
,ms.ypr[0],ms.ypr[1],ms.ypr[2]
,ms.gyro[0],ms.gyro[1],ms.gyro[2]
,rec.yprt[0],rec.yprt[1],rec.yprt[2],rec.yprt[3]
);
}
printf("c: %i\ty: %2.1f, p: %2.1f, r: %2.1f\tgy: %2.1f,gp: %2.1f,gr: %2.1f\try: %2.1f, rp: %2.1f, rr: %2.1f, rt: %2.1f\n"
,ms.count
,ms.ypr[0],ms.ypr[1],ms.ypr[2]
,ms.gyro[0],ms.gyro[1],ms.gyro[2]
,rec.yprt[0],rec.yprt[1],rec.yprt[2],rec.yprt[3]
);
}
}
void log_gyro() { //gyro & quat
flog_push(8,
(float)flight_time
,log[1]/100.0f,log[2]/100.0f,log[3]/100.0f
,log[8]/1.f,log[9]/1.f,log[10]/1.f
,log[11]/1.f
);
}
void log_quat() {
flog_push(9,
(float)flight_time
,log[4]/100.0f,log[5]/100.0f,log[6]/100.0f,log[7]/100.0f
,log[8]/1.f,log[9]/1.f,log[10]/1.f
,log[11]/1.f
);
}
void log_altitude() {
flog_push(4,
(float)flight_time
,log[18]/1.f,log[19]/1.f,log[20]/1.f
);
}
