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)
         {