File content as of revision 89:c9f64bd655d9:

#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;
    sp.vi[0] =  vi.x;
    sp.vi[1] =  vi.y;
    sp.vi[2] =  vi.z;
    sp.vihat[0] =  ekf.vihat(1,1);
    sp.vihat[1] =  ekf.vihat(2,1);
    sp.vihat[2] =  ekf.vihat(3,1);
    sp.accBias[0] = ekf.accBias.x;
    sp.accBias[1] = ekf.accBias.y;
    sp.accBias[2] = ekf.accBias.z;
    pc.Send(0000, &(sp));
}

void sendTelemetry()
{
    //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\r\n",ekf.accned(1,1),ekf.accned(2,1),ekf.accned(3,1),ekf.vihat(1,1), ekf.vihat(2,1), ekf.vihat(3,1),ekf.errState(10,1),ekf.errState(11,1),ekf.errState(12,1),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\r\n", lsm.ax, lsm.ay, lsm.az, lsm.gx, lsm.gy, lsm.gz, lsm.mx, lsm.my, lsm.mz);
}

void writeSDcard()
{
    //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);
}