diff options
Diffstat (limited to 'apps/sdlog/sdlog_generated.h')
| -rw-r--r-- | apps/sdlog/sdlog_generated.h | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/apps/sdlog/sdlog_generated.h b/apps/sdlog/sdlog_generated.h new file mode 100644 index 000000000..ca16ef908 --- /dev/null +++ b/apps/sdlog/sdlog_generated.h @@ -0,0 +1,238 @@ +/* This file is autogenerated in nuttx/configs/px4fmu/include/updatesdlog.py */ + +#ifndef SDLOG_GENERATED_H_ +#define SDLOG_GENERATED_H_ + + +typedef struct { + uint64_t sensors_raw_timestamp; + int16_t sensors_raw_gyro_raw[3]; + uint16_t sensors_raw_gyro_raw_counter; + int16_t sensors_raw_accelerometer_raw[3]; + uint16_t sensors_raw_accelerometer_raw_counter; + float attitude_roll; + float attitude_pitch; + float attitude_yaw; + float position_lat; + float position_lon; + float position_alt; + float position_relative_alt; + float position_vx; + float position_vy; + float position_vz; + int32_t gps_lat; + int32_t gps_lon; + int32_t gps_alt; + uint16_t gps_eph; + float ardrone_control_setpoint_thrust_cast; + float ardrone_control_setpoint_attitude[3]; + float ardrone_control_position_control_output[3]; + float ardrone_control_attitude_setpoint_navigationframe_from_positioncontroller[3]; + char check[4]; +} __attribute__((__packed__)) log_block_t; + +void copy_block(log_block_t *log_block) +{ + if (global_data_wait(&global_data_sensors_raw->access_conf_rate_low) == 0) { + memcpy(&log_block->sensors_raw_timestamp, &global_data_sensors_raw->timestamp, sizeof(uint64_t) * 1); + memcpy(&log_block->sensors_raw_gyro_raw, &global_data_sensors_raw->gyro_raw, sizeof(int16_t) * 3); + memcpy(&log_block->sensors_raw_gyro_raw_counter, &global_data_sensors_raw->gyro_raw_counter, sizeof(uint16_t) * 1); + memcpy(&log_block->sensors_raw_accelerometer_raw, &global_data_sensors_raw->accelerometer_raw, sizeof(int16_t) * 3); + memcpy(&log_block->sensors_raw_accelerometer_raw_counter, &global_data_sensors_raw->accelerometer_raw_counter, sizeof(uint16_t) * 1); + + if (global_data_trylock(&global_data_attitude->access_conf) == 0) { + memcpy(&log_block->attitude_roll, &global_data_attitude->roll, sizeof(float) * 1); + memcpy(&log_block->attitude_pitch, &global_data_attitude->pitch, sizeof(float) * 1); + memcpy(&log_block->attitude_yaw, &global_data_attitude->yaw, sizeof(float) * 1); + global_data_unlock(&global_data_attitude->access_conf); + } + + if (global_data_trylock(&global_data_position->access_conf) == 0) { + memcpy(&log_block->position_lat, &global_data_position->lat, sizeof(float) * 1); + memcpy(&log_block->position_lon, &global_data_position->lon, sizeof(float) * 1); + memcpy(&log_block->position_alt, &global_data_position->alt, sizeof(float) * 1); + memcpy(&log_block->position_relative_alt, &global_data_position->relative_alt, sizeof(float) * 1); + memcpy(&log_block->position_vx, &global_data_position->vx, sizeof(float) * 1); + memcpy(&log_block->position_vy, &global_data_position->vy, sizeof(float) * 1); + memcpy(&log_block->position_vz, &global_data_position->vz, sizeof(float) * 1); + global_data_unlock(&global_data_position->access_conf); + } + + if (global_data_trylock(&global_data_gps->access_conf) == 0) { + memcpy(&log_block->gps_lat, &global_data_gps->lat, sizeof(int32_t) * 1); + memcpy(&log_block->gps_lon, &global_data_gps->lon, sizeof(int32_t) * 1); + memcpy(&log_block->gps_alt, &global_data_gps->alt, sizeof(int32_t) * 1); + memcpy(&log_block->gps_eph, &global_data_gps->eph, sizeof(uint16_t) * 1); + global_data_unlock(&global_data_gps->access_conf); + } + + if (global_data_trylock(&global_data_ardrone_control->access_conf) == 0) { + memcpy(&log_block->ardrone_control_setpoint_thrust_cast, &global_data_ardrone_control->setpoint_thrust_cast, sizeof(float) * 1); + memcpy(&log_block->ardrone_control_setpoint_attitude, &global_data_ardrone_control->setpoint_attitude, sizeof(float) * 3); + memcpy(&log_block->ardrone_control_position_control_output, &global_data_ardrone_control->position_control_output, sizeof(float) * 3); + memcpy(&log_block->ardrone_control_attitude_setpoint_navigationframe_from_positioncontroller, &global_data_ardrone_control->attitude_setpoint_navigationframe_from_positioncontroller, sizeof(float) * 3); + global_data_unlock(&global_data_ardrone_control->access_conf); + } + + global_data_unlock(&global_data_sensors_raw->access_conf_rate_low); + } +} +#define MFILE_STRING "% This file is autogenerated in updatesdlog.py and mfile.template in apps/sdlog\n\ +%% Define logged values \n\ +\n\ +logTypes = {};\n\ +logTypes{end+1} = struct('data','sensors_raw','variable_name','timestamp','type_name','uint64','type_bytes',8,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','sensors_raw','variable_name','gyro_raw','type_name','int16','type_bytes',2,'number_of_array',3);\n\ +logTypes{end+1} = struct('data','sensors_raw','variable_name','gyro_raw_counter','type_name','uint16','type_bytes',2,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','sensors_raw','variable_name','accelerometer_raw','type_name','int16','type_bytes',2,'number_of_array',3);\n\ +logTypes{end+1} = struct('data','sensors_raw','variable_name','accelerometer_raw_counter','type_name','uint16','type_bytes',2,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','attitude','variable_name','roll','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','attitude','variable_name','pitch','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','attitude','variable_name','yaw','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','lat','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','lon','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','alt','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','relative_alt','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','vx','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','vy','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','position','variable_name','vz','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','gps','variable_name','lat','type_name','int32','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','gps','variable_name','lon','type_name','int32','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','gps','variable_name','alt','type_name','int32','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','gps','variable_name','eph','type_name','uint16','type_bytes',2,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','ardrone_control','variable_name','setpoint_thrust_cast','type_name','float','type_bytes',4,'number_of_array',1);\n\ +logTypes{end+1} = struct('data','ardrone_control','variable_name','setpoint_attitude','type_name','float','type_bytes',4,'number_of_array',3);\n\ +logTypes{end+1} = struct('data','ardrone_control','variable_name','position_control_output','type_name','float','type_bytes',4,'number_of_array',3);\n\ +logTypes{end+1} = struct('data','ardrone_control','variable_name','attitude_setpoint_navigationframe_from_positioncontroller','type_name','float','type_bytes',4,'number_of_array',3);\n\ +\ +%% Import logfiles\n\ +\n\ +% define log file and GPSs\n\ +logfileFolder = 'logfiles';\n\ +fileName = 'all';\n\ +fileEnding = 'px4log';\n\ +\n\ +numberOfLogTypes = length(logTypes);\n\ +\n\ +path = [fileName,'.', fileEnding];\n\ +fid = fopen(path, 'r');\n\ +\n\ +% get file length\n\ +fseek(fid, 0,'eof');\n\ +fileLength = ftell(fid);\n\ +fseek(fid, 0,'bof');\n\ +\n\ +% get length of one block\n\ +blockLength = 4; % check: $$$$\n\ +for i=1:numberOfLogTypes\n\ + blockLength = blockLength + logTypes{i}.type_bytes*logTypes{i}.number_of_array;\n\ +end\n\ +\n\ +% determine number of entries\n\ +entries = fileLength / blockLength;\n\ +\n\ +\n\ +% import data\n\ +offset = 0;\n\ +for i=1:numberOfLogTypes\n\ + \n\ + data.(genvarname(logTypes{i}.data)).(genvarname(logTypes{i}.variable_name)) = transpose(fread(fid,[logTypes{i}.number_of_array,entries],[num2str(logTypes{i}.number_of_array),'*',logTypes{i}.type_name,'=>',logTypes{i}.type_name],blockLength-logTypes{i}.type_bytes*logTypes{i}.number_of_array));\n\ + offset = offset + logTypes{i}.type_bytes*logTypes{i}.number_of_array;\n\ + fseek(fid, offset,'bof');\n\ + \n\ + progressPercentage = i/numberOfLogTypes*100;\n\ + fprintf('%3.0f%%',progressPercentage);\n\ +end\n\ +\n\ +\n\ +%% Plots\n\ +\n\ +figure\n\ +plot(data.sensors_raw.timestamp,data.sensors_raw.gyro_raw)\n\ +\n\ +figure\n\ +plot(data.sensors_raw.timestamp,data.sensors_raw.accelerometer_raw)\n\ +\n\ +%% Check for lost data\n\ +\n\ +% to detect lost frames (either when logging to sd card or if no new data is\n\ +% data is available for some time)\n\ +diff_counter = diff(data.sensors_raw.gyro_raw_counter);\n\ +figure\n\ +plot(diff_counter)\n\ +\n\ +% to detect how accurate the timing was\n\ +diff_timestamp = diff(data.sensors_raw.timestamp);\n\ +\n\ +figure\n\ +plot(diff_timestamp)\n\ +\n\ +%% Export to file for google earth\n\ +\n\ +\n\ +if(isfield(data.gps,'lat') && isfield(data.gps,'lon') && isfield(data.gps,'alt'))\n\ +\n\ + % extract coordinates and height where they are not zero\n\ + maskWhereNotZero = ((data.gps.lon ~= 0 & data.gps.lat ~= 0 ) & data.gps.alt ~= 0);\n\ +\n\ + % plot\n\ + figure\n\ + plot3(data.gps.lon(maskWhereNotZero),data.gps.lat(maskWhereNotZero),data.gps.alt(maskWhereNotZero))\n\ +\n\ +\n\ + % create a kml file according to https://developers.google.com/kml/documentation/kml_tut\n\ + % also see https://support.google.com/earth/bin/answer.py?hl=en&answer=148072&topic=2376756&ctx=topic\n\ +\n\ + % open file and overwrite content\n\ + fileId = fopen('gps_path.kml','w+');\n\ +\n\ + % define strings that should be written to file\n\ + fileStartDocumentString = ['<?xml version=\"1.0\" encoding=\"UTF-8\"?><kml xmlns=\"http://www.opengis.net/kml/2.2\"><Document><name>Paths</name><description>Path</description>'];\n\ +\n\ + fileStyleString = '<Style id=\"blueLinebluePoly\"><LineStyle><color>7fff0000</color><width>4</width></LineStyle><PolyStyle><color>7fff0000</color></PolyStyle></Style>';\n\ +\n\ + filePlacemarkString = '<Placemark><name>Absolute Extruded</name><description>Transparent blue wall with blue outlines</description><styleUrl>#blueLinebluePoly</styleUrl><LineString><extrude>1</extrude><tessellate>1</tessellate><altitudeMode>absolute</altitudeMode><coordinates>';\n\ +\n\ + fileEndPlacemarkString = '</coordinates></LineString></Placemark>';\n\ + fileEndDocumentString = '</Document></kml>';\n\ +\n\ + % start writing to file\n\ + fprintf(fileId,fileStartDocumentString);\n\ +\n\ + fprintf(fileId,fileStyleString);\n\ + fprintf(fileId,filePlacemarkString);\n\ +\n\ + \n\ + lonTemp = double(data.gps.lon(maskWhereNotZero))/1E7;\n\ + latTemp = double(data.gps.lat(maskWhereNotZero))/1E7;\n\ + altTemp = double(data.gps.alt(maskWhereNotZero))/1E3 + 100.0; % in order to see the lines above ground\n\ +\n\ + % write coordinates to file\n\ + for k=1:length(data.gps.lat(maskWhereNotZero))\n\ + if(mod(k,10)==0)\n\ + fprintf(fileId,'%.10f,%.10f,%.10f\\n',lonTemp(k),latTemp(k),altTemp(k));\n\ + end\n\ + end\n\ +\n\ + % write end placemark\n\ + fprintf(fileId,fileEndPlacemarkString);\n\ +\n\ + % write end of file\n\ + fprintf(fileId,fileEndDocumentString);\n\ +\n\ + % close file, it should now be readable in Google Earth using File -> Open\n\ + fclose(fileId);\n\ +\n\ +end\n\ +\n\ +if(isfield(data.position,'lat') && isfield(data.position,'lon') && isfield(data.position,'alt'))\n\ +\n\ + % extract coordinates and height where they are not zero\n\ + maskWhereNotZero = ((data.position.lon ~= 0 & data.position.lat ~= 0 ) & data.position.alt ~= 0);\n\ + \n\ + % plot\n\ + figure\n\ + plot3(data.position.lon(maskWhereNotZero),data.position.lat(maskWhereNotZero),data.position.alt(maskWhereNotZero))\n\ +end\n\ +" +#endif
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