//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);
}
