Diff: transferData.cpp

Revision:

102:1c77ff6e2a85

Parent:

99:98b892ca70ec

Child:

103:fec71c2051c5

--- a/transferData.cpp	Sun Nov 07 05:38:17 2021 +0000
+++ b/transferData.cpp	Mon Nov 08 09:20:21 2021 +0000
@@ -22,13 +22,14 @@
     Matrix accBias = eskf.getAccBias();
     Matrix gyroBias = eskf.getGyroBias();
     Matrix gravity = eskf.getGravity();
+    Matrix magGamma = magCalibrator.getGamma();
     
     //twelite.printf("%f %f %f %f %f %f\r\n",da,de,dT,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI);
     //twelite.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI, pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1),gravity(1,1),gravity(2,1),gravity(3,1));
     twelite.printf("%f %f %f %f %f %f %f %f %f %f %f\r\n",1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,pihat(1,1),pihat(2,1),pihat(3,1),vihat(1,1),vihat(2,1),vihat(3,1),palt);
     //twelite.printf("%f %f %f %f %f %f\r\n",accBias(1,1),accBias(2,1),accBias(3,1),gyroBias(1,1),gyroBias(2,1),gyroBias(3,1));
     //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);
-    //twelite.printf("%f %f %f %f %f %f\r\n", acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z);
+    //twelite.printf("%f %f %f %f %f %f %f \r\n", magGamma(7,1), magGamma(8,1), magGamma(9,1), mag.x, mag.y, mag.z,magres);
 }
 
 void writeSDcard()