Eigen Revision
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
transferData.cpp@99:98b892ca70ec, 2021-11-04 (annotated)
- Committer:
- NaotoMorita
- Date:
- Thu Nov 04 09:42:19 2021 +0000
- Revision:
- 99:98b892ca70ec
- Parent:
- 94:579e875a4244
- Child:
- 102:1c77ff6e2a85
changed
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
osaka | 87:89bbbcdb667b | 1 | #include "global.hpp" |
osaka | 87:89bbbcdb667b | 2 | |
osaka | 87:89bbbcdb667b | 3 | void sendData2PC() |
osaka | 87:89bbbcdb667b | 4 | { |
osaka | 87:89bbbcdb667b | 5 | sp.da = da; |
osaka | 87:89bbbcdb667b | 6 | sp.de = de; |
osaka | 87:89bbbcdb667b | 7 | sp.dT = dT; |
osaka | 87:89bbbcdb667b | 8 | sp.rpy[0] = rpy.x*180.0f/M_PI; |
osaka | 87:89bbbcdb667b | 9 | sp.rpy[1] = rpy.y*180.0f/M_PI; |
osaka | 87:89bbbcdb667b | 10 | sp.rpy[2] = rpy.z*180.0f/M_PI; |
NaotoMorita | 93:b827f78a717a | 11 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 93:b827f78a717a | 12 | sp.vihat[0] = vihat(1,1); |
NaotoMorita | 93:b827f78a717a | 13 | sp.vihat[1] = vihat(2,1); |
NaotoMorita | 93:b827f78a717a | 14 | sp.vihat[2] = vihat(3,1); |
osaka | 87:89bbbcdb667b | 15 | pc.Send(0000, &(sp)); |
osaka | 87:89bbbcdb667b | 16 | } |
osaka | 87:89bbbcdb667b | 17 | |
osaka | 87:89bbbcdb667b | 18 | void sendTelemetry() |
osaka | 87:89bbbcdb667b | 19 | { |
NaotoMorita | 93:b827f78a717a | 20 | Matrix pihat = eskf.getPihat(); |
NaotoMorita | 93:b827f78a717a | 21 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 93:b827f78a717a | 22 | Matrix accBias = eskf.getAccBias(); |
NaotoMorita | 93:b827f78a717a | 23 | Matrix gyroBias = eskf.getGyroBias(); |
NaotoMorita | 93:b827f78a717a | 24 | Matrix gravity = eskf.getGravity(); |
NaotoMorita | 93:b827f78a717a | 25 | |
osaka | 88:be349faa1976 | 26 | //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); |
NaotoMorita | 94:579e875a4244 | 27 | //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)); |
NaotoMorita | 99:98b892ca70ec | 28 | 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); |
NaotoMorita | 93:b827f78a717a | 29 | //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)); |
NaotoMorita | 92:00460f6df439 | 30 | //twelite.printf("%f %f %f %f %f %f\r\n",pi.x,pi.y,pi.z,vi.x,vi.y,vi.z); |
NaotoMorita | 93:b827f78a717a | 31 | //twelite.printf("%f %f %f %f %f %f\r\n", acc.x, acc.y, acc.z, gyro.x, gyro.y, gyro.z); |
osaka | 87:89bbbcdb667b | 32 | } |
osaka | 87:89bbbcdb667b | 33 | |
osaka | 87:89bbbcdb667b | 34 | void writeSDcard() |
osaka | 87:89bbbcdb667b | 35 | { |
NaotoMorita | 94:579e875a4244 | 36 | Matrix pihat = eskf.getPihat(); |
NaotoMorita | 94:579e875a4244 | 37 | Matrix vihat = eskf.getVihat(); |
NaotoMorita | 94:579e875a4244 | 38 | Matrix accBias = eskf.getAccBias(); |
NaotoMorita | 94:579e875a4244 | 39 | Matrix gyroBias = eskf.getGyroBias(); |
NaotoMorita | 94:579e875a4244 | 40 | Matrix gravity = eskf.getGravity(); |
NaotoMorita | 94:579e875a4244 | 41 | //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); |
NaotoMorita | 94:579e875a4244 | 42 | sd.printf("%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f\r\n",_t.read(),1.0f/att_dt,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)); |
NaotoMorita | 94:579e875a4244 | 43 | |
osaka | 88:be349faa1976 | 44 | //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); |
osaka | 87:89bbbcdb667b | 45 | } |