From 16e49c447d788c73535a6dd36474673cbf9b8e4f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 9 Jan 2013 16:37:45 +0100 Subject: Added support for battery voltage and differential pressure to logging and plot script --- ROMFS/logging/logconv.m | 35 ++++++++++++++++++++++------------- 1 file changed, 22 insertions(+), 13 deletions(-) (limited to 'ROMFS') diff --git a/ROMFS/logging/logconv.m b/ROMFS/logging/logconv.m index bf70d6d0f..5bd19b2ee 100644 --- a/ROMFS/logging/logconv.m +++ b/ROMFS/logging/logconv.m @@ -24,6 +24,8 @@ filePath = 'sysvector.bin'; % 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 bat_current - current drawn from battery at this time instant +% float bat_discharged - discharged energy in mAh % 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] @@ -31,27 +33,34 @@ filePath = 'sysvector.bin'; % float rotMatrix[9]; //unitvectors % float actuator_control[4]; //unitvector % float optical_flow[4]; //roll, pitch, yaw [-1..1], thrust [0..1] +% float diff_pressure; - pressure difference in millibar +% float ind_airspeed; +% float true_airspeed; % Definition of the logged values -logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); -logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{1} = struct('name', 'timestamp', 'bytes', 8, 'array', 1, 'precision', 'uint64', 'machineformat', 'ieee-le.l64'); +logFormat{2} = struct('name', 'gyro', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{3} = struct('name', 'accel', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{4} = struct('name', 'mag', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{5} = struct('name', 'baro', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{6} = struct('name', 'baro_alt', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{7} = struct('name', 'baro_temp', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{8} = struct('name', 'control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{11} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{12} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); -logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); +logFormat{9} = struct('name', 'actuators', 'bytes', 4, 'array', 8, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{10} = struct('name', 'vbat', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{10} = struct('name', 'bat_current', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{10} = struct('name', 'bat_discharged', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{11} = struct('name', 'adc', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{12} = struct('name', 'local_position', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{13} = struct('name', 'gps_raw_position', 'bytes', 4, 'array', 3, 'precision', 'uint32', 'machineformat', 'ieee-le'); logFormat{14} = struct('name', 'attitude', 'bytes', 4, 'array', 3, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{15} = struct('name', 'rot_matrix', 'bytes', 4, 'array', 9, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{16} = struct('name', 'vicon_position', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{17} = struct('name', 'actuator_control', 'bytes', 4, 'array', 4, 'precision', 'float', 'machineformat', 'ieee-le'); logFormat{18} = struct('name', 'optical_flow', 'bytes', 4, 'array', 6, 'precision', 'float', 'machineformat', 'ieee-le'); - +logFormat{19} = struct('name', 'diff_pressure', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{20} = struct('name', 'ind_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); +logFormat{21} = struct('name', 'true_airspeed', 'bytes', 4, 'array', 1, 'precision', 'float', 'machineformat', 'ieee-le'); % First get length of one line columns = length(logFormat); -- cgit v1.2.3