File content as of revision 133:346ce20b3950:

#include "global.hpp"

void sendData2PC()
{
    sp.da = da;
    sp.de = de;
    sp.dT = dT;
    sp.rpy[0] = rpy.x*180.0f/M_PI;
    sp.rpy[1] = rpy.y*180.0f/M_PI;
    sp.rpy[2] = rpy.z*180.0f/M_PI;
    Matrix vihat = eskf.getVihat();
    sp.vihat[0] = vihat(1,1);
    sp.vihat[1] = vihat(2,1);
    sp.vihat[2] = vihat(3,1);
    pc.Send(0000, &(sp));
}

void sendTelemetry()
{
    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]);
    
    //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.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()
{
    Matrix pihat = eskf.getPihat();
    Matrix vihat = eskf.getVihat();

    lp.time = _t.read();
    lp.hertz = 1.0f/att_dt;
    lp.da = da;
    lp.de = de;
    lp.dT = dT;
    for(int i = 0;i<16;i++){
        lp.rc[i] = rc[i];
    }
    for(int i = 0;i<3;i++){
        lp.rpy[i] = euler(i+1,1);
        lp.pihat[i] = pihat(i+1,1);
        lp.vihat[i] = vihat(i+1,1);
    }
    lp.pi[0] = pi.x;
    lp.pi[1] = pi.y;
    lp.pi[2] = pi.z;
    lp.vi[0] = vi.x;
    lp.vi[1] = vi.y;
    lp.vi[2] = vi.z;
    lp.acc[0] = acc.x;
    lp.acc[1] = acc.y;
    lp.acc[2] = acc.z;
    lp.gyro[0] = gyro.x;
    lp.gyro[1] = gyro.y;
    lp.gyro[2] = gyro.z;
    lp.mag[0] = mag.x;
    lp.mag[1] = mag.y;
    lp.mag[2] = mag.z;
    lp.palt = palt;

    //sd.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);
    //sd.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",_t.read(),da,de,dT,rc[0],rc[1],rc[2],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));
    sd.Send(0000, &(lp));
    //sd.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);
}