void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
if (!check_generate) {
logreader.set_save_chek_messages(true);
}
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename);
// remember filename for reporting
log_filename = filename;
if (!find_log_info(log_info)) {
printf("Update to get log information\n");
exit(1);
}
hal.console->printf("Using an update rate of %u Hz\n", log_info.update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
inhibit_gyro_cal();
set_ins_update_rate(log_info.update_rate);
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w");
ekf2f = fopen("EKF2.dat", "w");
ekf3f = fopen("EKF3.dat", "w");
ekf4f = fopen("EKF4.dat", "w");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE FLIGHT.Alt AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
if (!check_generate) {
logreader.set_save_chek_messages(true);
}
set_signal_handlers();
hal.console->printf("Processing log %s\n", filename);
// remember filename for reporting
log_filename = filename;
if (!find_log_info(log_info)) {
printf("Update to get log information\n");
exit(1);
}
hal.console->printf("Using an update rate of %u Hz\n", log_info.update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
inhibit_gyro_cal();
if (log_info.update_rate == 400) {
// assume copter for 400Hz
_vehicle.ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
_vehicle.ahrs.set_fly_forward(false);
} else if (log_info.update_rate == 50) {
// assume copter for 400Hz
_vehicle.ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
_vehicle.ahrs.set_fly_forward(true);
}
set_ins_update_rate(log_info.update_rate);
}
void Replay::setup()
{
::printf("Starting\n");
uint8_t argc;
char * const *argv;
hal.util->commandline_arguments(argc, argv);
_parse_command_line(argc, argv);
// _parse_command_line sets up an FPE handler. We can do better:
signal(SIGFPE, _replay_sig_fpe);
hal.console->printf("Processing log %s\n", filename);
if (update_rate == 0) {
update_rate = find_update_rate(filename);
}
hal.console->printf("Using an update rate of %u Hz\n", update_rate);
if (!logreader.open_log(filename)) {
perror(filename);
exit(1);
}
_vehicle.setup();
set_ins_update_rate(update_rate);
logreader.wait_type("GPS");
logreader.wait_type("IMU");
logreader.wait_type("GPS");
logreader.wait_type("IMU");
feenableexcept(FE_INVALID | FE_OVERFLOW);
plotf = fopen("plot.dat", "w");
plotf2 = fopen("plot2.dat", "w");
ekf1f = fopen("EKF1.dat", "w");
ekf2f = fopen("EKF2.dat", "w");
ekf3f = fopen("EKF3.dat", "w");
ekf4f = fopen("EKF4.dat", "w");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE FLIGHT.Alt AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
::printf("Waiting for GPS\n");
while (!done_home_init) {
char type[5];
if (!logreader.update(type)) {
break;
}
read_sensors(type);
if (streq(type, "GPS") &&
(_vehicle.gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
done_baro_init && !done_home_init) {
const Location &loc = _vehicle.gps.location();
::printf("GPS Lock at %.7f %.7f %.2fm time=%.1f seconds\n",
loc.lat * 1.0e-7f,
loc.lng * 1.0e-7f,
loc.alt * 0.01f,
hal.scheduler->millis()*0.001f);
_vehicle.ahrs.set_home(loc);
_vehicle.compass.set_initial_location(loc.lat, loc.lng);
done_home_init = true;
}
}
}
