Diff: transferData.cpp

Revision:

87:89bbbcdb667b

Child:

88:be349faa1976

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/transferData.cpp	Wed Oct 20 01:50:52 2021 +0000
@@ -0,0 +1,31 @@
+#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);
+}
+
+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);
+}