//logging void navLog_Send() { char logbuf[1024]; int logbuflen; float motval[4]; mot_GetMot(motval); logcnt++; logbuflen=sprintf(logbuf,"%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f" //sequence+timestamp ,logcnt ,att.ts // navdata timestamp in sec //sensor data ,att.ax // acceleration x-axis in [G] front facing up is positive ,att.ay // acceleration y-axis in [G] left facing up is positive ,att.az // acceleration z-axis in [G] top facing up is positive ,RAD2DEG(att.gx) // gyro value x-axis in [deg/sec] right turn, i.e. roll right is positive ,RAD2DEG(att.gy) // gyro value y-axis in [deg/sec] right turn, i.e. pirch down is positive ,RAD2DEG(att.gz) // gyro value z-axis in [deg/sec] right turn, i.e. yaw left is positive ,att.hv // vertical speed [cm/sec] //height ,setpoint.h // setpoint height ,att.h // actual height above ground in [cm] ,throttle // throttle setting 0.00 - 1.00 //pitch ,RAD2DEG(setpoint.pitch) //setpoint pitch [deg] ,RAD2DEG(att.pitch) //actual pitch ,adj_pitch //pitch motor adjustment //roll ,RAD2DEG(setpoint.roll) //setpoint roll [deg] ,RAD2DEG(att.roll) //actual roll ,adj_roll //roll motor adjustment //yaw ,RAD2DEG(setpoint.yaw) //yaw pitch [deg] ,RAD2DEG(att.yaw) //actual yaw ,adj_yaw //yaw motor adjustment ); printf(logbuf); // udpClient_Send(&udpNavLog,logbuf,logbuflen); }
//logging void navLog_Send() { char logbuf[512]; int logbuflen; float motval[4]; mot_GetMot(motval); logcnt++;//38 logbuflen=sprintf(logbuf,(char*)" %.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f,%.3f " //sequence+timestamp ,ahrsdata.tm // navdata timestamp in sec ,ahrsdata.tm_pre ,ahrsdata.frame ,ahrsdata.pitch_w //=sum(gx * dt) ,ahrsdata.pitch_a //=pitch(az,ax) ,ahrsdata.pitch //kalman pitch estimate from gy and pitch_a //roll estimates in radians, positive is roll right (fly rightward) ,ahrsdata.roll_w //=sum(gy * dt) ,ahrsdata.roll_a //=roll(az,ay) ,ahrsdata.roll //kalman roll estimate from gx and roll_a //yaw estimate, positive is yaw left ,ahrsdata.yaw_w //=sum(gz * dt) ,ahrsdata.yaw_m //=sum(gz * dt) ,ahrsdata.yaw //=sum(gz * dt) ,ahrsdata.dt // time since last navdata sample in sec ,ahrsdata.dt2 // time consumed by the ahrs calculations ,ahrsdata.q_est[0] ,ahrsdata.q_est[1] ,ahrsdata.q_est[2] ,ahrsdata.q_est[3] ,ahrsdata.b_est[0] ,ahrsdata.b_est[1] ,ahrsdata.b_est[2] //copy of physical navdata values ,ahrsdata.ts // navdata timestamp in sec ,ahrsdata.hraw // height above ground in [cm] ,ahrsdata.h_meas// 1=height was measured in this sample, 0=height is copy of prev value ,ahrsdata.ax // acceleration x-axis in [G] front facing up is positive ,ahrsdata.ay // acceleration y-axis in [G] left facing up is positive ,ahrsdata.az // acceleration z-axis in [G] top facing up is positive ,ahrsdata.wx // gyro value x-axis in [rad/sec] right turn, i.e. roll right is positive ,ahrsdata.wy // gyro value y-axis in [rad/sec] right turn, i.e. pirch down is positive ,ahrsdata.wz // gyro value z-axis in [rad/sec] right turn, i.e. yaw left is positive ,ahrsdata.magX ,ahrsdata.magY ,ahrsdata.magZ ,ahrsdata.pressure ,ahrsdata.rotX ,ahrsdata.rotY ,ahrsdata.rotZ ,ahrsdata.altd ,ahrsdata.motor1 ,ahrsdata.motor2 ,ahrsdata.motor3 ,ahrsdata.motor4 ); udpClient_Send(&udpNavLog,logbuf,logbuflen); }