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:
- 4:9ffbf9101992
- Parent:
- 3:4823d6750629
--- a/BaseStation/BaseStation.cpp Fri Apr 24 16:50:20 2015 +0000 +++ b/BaseStation/BaseStation.cpp Fri May 08 09:07:38 2015 +0000 @@ -11,7 +11,7 @@ } BaseStation::~BaseStation(){} - +l void BaseStation::threadStarter(void const *p) { BaseStation *instance = (BaseStation*)p; @@ -133,15 +133,20 @@ } else if (mode == Status::ALTITUDE) { - Sensors::Altitude altitude = _sensors.getAltitude(); - _wireless->printf("<GAlt=%1.2f:CAlt=%1.2f:BAlt=%1.2f:LAlt=%1.2f>", - altitude.gps, altitude.computed, altitude.barometer, altitude.lidar); + Sensors::Altitude altitude = _sensors.getAltitude(); + Imu::Acceleration acceleration = _sensors.getImuAcceleration(); + + _wireless->printf("<ZVEL=%1.2f:CAlt=%1.2f:BAlt=%1.2f:LAlt=%1.2f>", + acceleration.z, altitude.computed, altitude.barometer, altitude.lidar); } else if (mode == Status::VELOCITY) { - Imu::Velocity velocity = _sensors.getImuVelocity(); + //Imu::Velocity velocity = _sensors.getImuVelocity(); + //_wireless->printf("<XVEL=%1.2f:YVEL=%1.2f:ZVEL=%1.2f>", + //velocity.x, velocity.y, velocity.z); + Imu::Acceleration acceleration = _sensors.getImuAcceleration(); _wireless->printf("<XVEL=%1.2f:YVEL=%1.2f:ZVEL=%1.2f>", - velocity.x, velocity.y, velocity.z); + acceleration.x, acceleration.y, acceleration.z); } else if (mode == Status::ALTITUDE_STATUS) {