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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.toEulerZYX().x;
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logBuffer[logPointer][8] = attitude.toEulerZYX().y;
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logBuffer[logPointer][9] = attitude.toEulerZYX().z;
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logBuffer[logPointer][10] = attitudeTarget.toEulerZYX().x;
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logBuffer[logPointer][11] = attitudeTarget.toEulerZYX().y;
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logBuffer[logPointer][12] = attitudeTarget.toEulerZYX().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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