![](/media/cache/profiles/8158fa3e4de806e614f7ff02e7b22fde.jpg.50x50_q85.png)
New version of quadcopter software written to OO principles
Dependencies: mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS
Diff: BaseStation/BaseStation.cpp
- Revision:
- 3:4823d6750629
- Parent:
- 2:969dfa4f2436
- Child:
- 4:9ffbf9101992
--- a/BaseStation/BaseStation.cpp Wed Apr 01 11:19:21 2015 +0000 +++ b/BaseStation/BaseStation.cpp Fri Apr 24 16:50:20 2015 +0000 @@ -139,16 +139,22 @@ } else if (mode == Status::VELOCITY) { - //Sensors::Velocity velocity = _sensors.getVelocity(); - //_wireless->printf("<AVelX=%1.2f:AVelY=%1.2f:AVelZ=%1.2f:LVel=%1.2f:CVelX=%1.2f:CVelY=%1.2f:CVelZ=%1.2f>", - //velocity.accelX, velocity.accelY, velocity.accelZ, velocity.lidar, velocity.computedX, velocity.computedY, velocity.computedZ); + Imu::Velocity velocity = _sensors.getImuVelocity(); + _wireless->printf("<XVEL=%1.2f:YVEL=%1.2f:ZVEL=%1.2f>", + velocity.x, velocity.y, velocity.z); } else if (mode == Status::ALTITUDE_STATUS) { NavigationController::SetPoint setPoints = _navigationController.getSetPoint(); Sensors::Altitude altitude = _sensors.getAltitude(); - _wireless->printf("<ACR=%1.2f:AT=%1.2f:ATHR=%1.2f:LAlt=%1.2f>", - setPoints.climbRate, setPoints.targetAltitude, (setPoints.throttle * 100), altitude.computed); + _wireless->printf("<ACR=%1.2f:ATA=%1.2f:ATHR=%1.2f:CAlt=%1.2f:ZVEL=%1.2f>", + setPoints.climbRate, setPoints.targetAltitude, (setPoints.throttle * 100), altitude.computed, _sensors.getImuVelocity().z); + } + else if (mode == Status::LIDAR) + { + Sensors::Altitude altitude = _sensors.getAltitude(); + Imu::Angle angle = _sensors.getAngle(); + _wireless->printf("<SP=%1.2f:SR=%1.2f:LAlt=%1.2f>", angle.pitch, angle.roll, altitude.lidar); } //Check for wireless serial command