Diff: transferData.cpp

Revision:

134:d57c6b2a706b

Parent:

133:346ce20b3950

Child:

135:49f8916588da

--- a/transferData.cpp	Tue Nov 30 07:58:46 2021 +0000
+++ b/transferData.cpp	Tue Nov 30 11:27:09 2021 +0000
@@ -19,22 +19,18 @@
 {
     Matrix pihat = eskf.getPihat();
     Matrix vihat = eskf.getVihat();
-    Matrix accBias = eskf.getAccBias();
-    Matrix gyroBias = eskf.getGyroBias();
-    Matrix gravity = eskf.getGravity();
-    //magCalibrator.getExtremes(magbiasMin,magbiasMax);
-    //twelite.printf("Magbias (Min) : %f, %f, %f\r\n", magbiasMin[0], magbiasMin[1], magbiasMin[2]);
-    //twelite.printf("Magbias (Max) : %f, %f, %f\r\n", magbiasMax[0], magbiasMax[1], magbiasMax[2]);
+    tp.time=_t.read();
+    tp.hertz = 1.0f/att_dt;
+    tp.gpsFix = float(gps.gpsFix);
+    for(int i = 0;i<3;i++){
+        tp.rpy[i] = euler(i+1,1)*180.0f/M_PI;
+        tp.pihat[i] = pihat(i+1,1);
+        tp.vihat[i] = vihat(i+1,1);
+    }
+    tp.dynaccNorm = sqrt(dynaccnorm2);
     
-    //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.Send(0000, &(sp));
+    twelite.Send(0000, &(tp));
         
-    //twelite.printf("%d %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,_t.read(),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),sqrt(dynaccnorm2),gps.Longitude,gps.Latitude);
-    //twelite.printf("%d %f %f %f %f %f %f %f %f %f %f\r\n",gps.gpsFix ,1.0f/att_dt,rpy.x*180.0f/M_PI,rpy.y*180.0f/M_PI,rpy.z*180.0f/M_PI,pi.x,pi.y,pi.z,vi.x,vi.y,vi.z);
-    //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 %f \r\n", magGamma(7,1), magGamma(8,1), magGamma(9,1), mag.x, mag.y, mag.z,magres);
 }
 
 void writeSDcard()