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author | daregger <daregger@student.ethz.ch> | 2012-11-06 11:25:31 +0100 |
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committer | daregger <daregger@student.ethz.ch> | 2012-11-06 11:25:31 +0100 |
commit | 0ee48db90fd1df3bdc8863246057500e3f86562e (patch) | |
tree | d0ee0e141967684d51132e88e0fd5cb336b8e429 /apps/sdlog/sdlog.c | |
parent | 242d49402ea1e47781e6f337975543e4471d2081 (diff) | |
download | px4-firmware-0ee48db90fd1df3bdc8863246057500e3f86562e.tar.gz px4-firmware-0ee48db90fd1df3bdc8863246057500e3f86562e.tar.bz2 px4-firmware-0ee48db90fd1df3bdc8863246057500e3f86562e.zip |
add attitude + rotation Matrix to logging
Diffstat (limited to 'apps/sdlog/sdlog.c')
-rw-r--r-- | apps/sdlog/sdlog.c | 39 |
1 files changed, 22 insertions, 17 deletions
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c index 7d2f6afba..cf6edcbe6 100644 --- a/apps/sdlog/sdlog.c +++ b/apps/sdlog/sdlog.c @@ -488,23 +488,25 @@ int sdlog_thread_main(int argc, char *argv[]) { orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos); orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos); orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos); + orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); #pragma pack(push, 1) struct { - uint64_t timestamp; - float gyro[3]; - float accel[3]; - float mag[3]; - float baro; - float baro_alt; - float baro_temp; - float control[4]; - - float actuators[8]; - float vbat; - float adc[3]; - float local_pos[3]; - int32_t gps_pos[3]; + uint64_t timestamp; //[us] + float gyro[3]; //[rad/s] + float accel[3]; //[m/s^2] + float mag[3]; //[gauss] + float baro; //pressure [millibar] + float baro_alt; //altitude above MSL [meter] + float baro_temp; //[degree celcius] + float control[4]; //roll, pitch, yaw [-1..1], thrust [0..1] + float actuators[8]; //motor 1-8, in motor units (PWM: 1000-2000,AR.Drone: 0-512) + float vbat; //battery voltage in [volt] + float adc[3]; //remaining auxiliary ADC ports [volt] + float local_position[3]; //tangent plane mapping into x,y,z [m] + int32_t gps_raw_position[3]; //latitude [degrees] north, longitude [degrees] east, altitude above MSL [millimeter] + float attitude[3]; //pitch, roll, yaw [rad] + float rotMatrix[9]; //unitvectors } sysvector = { .timestamp = buf.raw.timestamp, .gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]}, @@ -518,14 +520,16 @@ int sdlog_thread_main(int argc, char *argv[]) { buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]}, .vbat = buf.raw.battery_voltage_v, .adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]}, - .local_pos = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, - .gps_pos = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt} + .local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z}, + .gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt}, + .attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw}, + .rotMatrix = {buf.att.R[1][1], buf.att.R[1][2], buf.att.R[1][3], buf.att.R[2][1], buf.att.R[2][2], buf.att.R[2][3], buf.att.R[3][1], buf.att.R[3][2], buf.att.R[3][3]} }; #pragma pack(pop) sysvector_bytes += write(sysvector_file, (const char*)&sysvector, sizeof(sysvector)); - usleep(10000); + usleep(10000); //10000 corresponds in reality to ca. 76 Hz } fsync(sysvector_file); @@ -602,3 +606,4 @@ int file_copy(const char* file_old, const char* file_new) return ret; } + |