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21dcb39b7e
Make the order or basic methods consistent between Vector and Quaternion. Remove `ZYX` from Euler method names as this is standard for robotics. Rename angular rates to rotation vector, which is more correct. Make rotation methods static, to keep the arguments order consistent. Make `Quaternion::fromAxisAngle` accept Vector for axis. Minor fixes.
54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// In-RAM logging
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#define LOG_RATE 100
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#define LOG_DURATION 10
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#define LOG_PERIOD 1.0 / LOG_RATE
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#define LOG_SIZE LOG_DURATION * LOG_RATE
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#define LOG_COLUMNS 14
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float logBuffer[LOG_SIZE][LOG_COLUMNS]; // * 4 (float)
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int logPointer = 0;
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void logData() {
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if (!armed) return;
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static float logTime = 0;
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if (t - logTime < LOG_PERIOD) return;
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logTime = t;
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logBuffer[logPointer][0] = t;
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logBuffer[logPointer][1] = rates.x;
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logBuffer[logPointer][2] = rates.y;
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logBuffer[logPointer][3] = rates.z;
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logBuffer[logPointer][4] = ratesTarget.x;
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logBuffer[logPointer][5] = ratesTarget.y;
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logBuffer[logPointer][6] = ratesTarget.z;
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logBuffer[logPointer][7] = attitude.toEuler().x;
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logBuffer[logPointer][8] = attitude.toEuler().y;
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logBuffer[logPointer][9] = attitude.toEuler().z;
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logBuffer[logPointer][10] = attitudeTarget.toEuler().x;
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logBuffer[logPointer][11] = attitudeTarget.toEuler().y;
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logBuffer[logPointer][12] = attitudeTarget.toEuler().z;
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logBuffer[logPointer][13] = thrustTarget;
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logPointer++;
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if (logPointer >= LOG_SIZE) {
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logPointer = 0;
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}
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}
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void dumpLog() {
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Serial.printf("t,rates.x,rates.y,rates.z,ratesTarget.x,ratesTarget.y,ratesTarget.z,"
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"attitude.x,attitude.y,attitude.z,attitudeTarget.x,attitudeTarget.y,attitudeTarget.z,thrustTarget\n");
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for (int i = 0; i < LOG_SIZE; i++) {
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if (logBuffer[i][0] == 0) continue; // skip empty records
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for (int j = 0; j < LOG_COLUMNS - 1; j++) {
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Serial.printf("%f,", logBuffer[i][j]);
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}
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Serial.printf("%f\n", logBuffer[i][LOG_COLUMNS - 1]);
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}
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}
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