Diff: logging/logging.cpp

Revision:

1:cb84b477886c

Parent:

0:a6a169de725f

Child:

2:fbc6e3cf3ed8

--- a/logging/logging.cpp	Mon May 27 13:26:03 2013 +0000
+++ b/logging/logging.cpp	Tue May 28 13:58:35 2013 +0000
@@ -20,7 +20,7 @@
     s->gHeading = s->cHeading = 0.0;
     //s->roll = s->pitch = s->yaw =0.0;
     s->gpsLatitude = s->gpsLongitude = s->gpsCourse_deg = s->gpsSpeed_mps = s->gpsHDOP = 0.0;
-    s->gpsLatitude2 = s->gpsLongitude2 = s->gpsCourse_deg2 = s->gpsSpeed_mps2 = s->gpsHDOP2 = 0.0;
+    //s->gpsLatitude2 = s->gpsLongitude2 = s->gpsCourse_deg2 = s->gpsSpeed_mps2 = s->gpsHDOP2 = 0.0;
     s->lrEncDistance = s->rrEncDistance = 0.0;
     s->lrEncSpeed = s->rrEncSpeed = s->encHeading = 0.0;
     s->estHeading = s->estLatitude = s->estLongitude = 0.0;
@@ -176,23 +176,7 @@
     fputc(',',logp);
     printInt(logp, s.gpsSats);
     fputc(',',logp);
-
-    // GPS 2
-    fprintf(logp, "%.7f,%.7f,", s.gpsLatitude2, s.gpsLongitude2);
-    //printFloat(logp, s.gpsLatitude2, 7);
-    //fputc(',',logp);
-    //printFloat(logp, s.gpsLongitude2, 7);
-    //fputc(',',logp);
-    printFloat(logp, s.gpsCourse_deg2, 2);
-    fputc(',',logp);
-    printFloat(logp, s.gpsSpeed_mps2, 2);
-    fputc(',',logp);
-    printFloat(logp, s.gpsHDOP2, 1);
-    fputc(',',logp);
-    printInt(logp, s.gpsSats2);
-    fputc(',',logp);
-
-
+    // Encoders
     printFloat(logp, s.lrEncDistance, 7);
     fputc(',',logp);
     printFloat(logp, s.rrEncDistance, 7);
@@ -203,8 +187,11 @@
     fputc(',',logp);
     printFloat(logp, s.encHeading, 2);
     fputc(',',logp);
+    // Estimates
     printFloat(logp, s.estHeading, 2);
     fputc(',',logp);
+    printFloat(logp, s.estLagHeading, 2);
+    fputc(',',logp);
     printFloat(logp, s.estLatitude,  7);
     fputc(',',logp);
     printFloat(logp, s.estLongitude, 7);
@@ -213,25 +200,15 @@
     fputc(',',logp);
     printFloat(logp, s.estY, 4);
     fputc(',',logp);
+    // Nav
     printInt(logp, s.nextWaypoint);
     fputc(',',logp);
     printFloat(logp, s.bearing, 2);
     fputc(',',logp);
     printFloat(logp, s.distance, 3);
     fputc(',',logp);
-/*
-    printFloat(logp, s.gbias, 3);
-    fputc(',',logp);
-    printFloat(logp, s.errAngle, 5);
-    fputc(',',logp);
-    printFloat(logp, s.leftRanger, 3);
+    printFloat(logp, s.steerAngle, 3);
     fputc(',',logp);
-    printFloat(logp, s.rightRanger, 3);
-    fputc(',',logp);
-    printFloat(logp, s.centerRanger, 3);
-    fputc(',',logp);
-    printFloat(logp, s.crossTrackErr, 3);
-*/
     fputc('\n',logp);
 
     t2 = logtimer.read_us();