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Add attitude to log

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This commit is contained in:
Oleg Kalachev 2023-04-05 02:37:51 +03:00
parent 4dc8118c95
commit 52d19e6b11
1 changed files with 16 additions and 13 deletions
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29
flix/log.ino
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@ -1,11 +1,11 @@
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com> // Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
// Repository: https://github.com/okalachev/flix // Repository: https://github.com/okalachev/flix
#define LOG_RATE 200 const int LOG_RATE = 100;
#define LOG_DURATION 10 const int LOG_DURATION = 10;
#define LOG_PERIOD 1000000 / LOG_RATE const int LOG_PERIOD = 1000000 / LOG_RATE;
#define LOG_SIZE LOG_DURATION * LOG_RATE const int LOG_SIZE = LOG_DURATION * LOG_RATE;
#define LOG_COLUMNS 11 const int LOG_COLUMNS = 14;
static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float) static float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
static int logPointer = 0; static int logPointer = 0;
@ -24,10 +24,13 @@ void logData()
logBuffer[logPointer][4] = ratesTarget.x; logBuffer[logPointer][4] = ratesTarget.x;
logBuffer[logPointer][5] = ratesTarget.y; logBuffer[logPointer][5] = ratesTarget.y;
logBuffer[logPointer][6] = ratesTarget.z; logBuffer[logPointer][6] = ratesTarget.z;
logBuffer[logPointer][7] = torqueTarget.x; logBuffer[logPointer][7] = attitude.toEulerZYX().x;
logBuffer[logPointer][8] = torqueTarget.y; logBuffer[logPointer][8] = attitude.toEulerZYX().y;
logBuffer[logPointer][9] = torqueTarget.z; logBuffer[logPointer][9] = attitude.toEulerZYX().z;
logBuffer[logPointer][10] = thrustTarget; logBuffer[logPointer][10] = attitudeTarget.toEulerZYX().x;
logBuffer[logPointer][11] = attitudeTarget.toEulerZYX().y;
logBuffer[logPointer][12] = attitudeTarget.toEulerZYX().z;
logBuffer[logPointer][13] = thrustTarget;
logPointer++; logPointer++;
if (logPointer >= LOG_SIZE) { if (logPointer >= LOG_SIZE) {
@ -37,12 +40,12 @@ void logData()
void dumpLog() void dumpLog()
{ {
printf("timestamp,rate.x,rate.y,rate.z,target.rate.x,target.rate.y,target.rate.z,torque.x,torque.y,torque.z,thrust\n"); Serial.printf("timestamp,rate.x,rate.y,rate.z,target.rate.x,target.rate.y,target.rate.z,"
"attitude.x,attitude.y,attitude.z,target.attitude.x,target.attitude.y,target.attitude.z,thrust\n");
for (int i = 0; i < LOG_SIZE; i++) { for (int i = 0; i < LOG_SIZE; i++) {
for (int j = 0; j < LOG_COLUMNS - 1; j++) { for (int j = 0; j < LOG_COLUMNS - 1; j++) {
printf("%f,", logBuffer[i][j]); Serial.printf("%f,", logBuffer[i][j]);
} }
printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]); Serial.printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
} }
Serial.println();
} }