mirror
/
stratux
kopia lustrzana https://github.com/cyoung/stratux
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

AHRS logging uses AHRSProvider built-in logging.

pull/578/head
Eric Westphal 2017-02-13 15:15:45 -05:00
rodzic 261dd637e0
commit a5aa50f44f
1 zmienionych plików z 12 dodań i 12 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

24
main/sensors.go
Wyświetl plik

@ -170,10 +170,10 @@ func sensorAttitudeSender() {
cage = make(chan(bool)) cage = make(chan(bool))
//TODO westphae: remove this logging when finished testing, or make it optional in settings //TODO westphae: remove this logging when finished testing, or make it optional in settings
logger := ahrs.NewSensorLogger(fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405")), //logger := ahrs.NewSensorLogger(fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405")),
"T", "TS", "A1", "A2", "A3", "H1", "H2", "H3", "M1", "M2", "M3", "TW", "W1", "W2", "W3", "TA", "Alt", // "T", "TS", "A1", "A2", "A3", "H1", "H2", "H3", "M1", "M2", "M3", "TW", "W1", "W2", "W3", "TA", "Alt",
"pitch", "roll", "heading", "mag_heading", "slip_skid", "turn_rate", "g_load", "T_Attitude") // "pitch", "roll", "heading", "mag_heading", "slip_skid", "turn_rate", "g_load", "T_Attitude")
defer logger.Close() //defer logger.Close()
ahrswebListener, err := ahrsweb.NewKalmanListener() ahrswebListener, err := ahrsweb.NewKalmanListener()
if err != nil { if err != nil {
@ -265,7 +265,7 @@ func sensorAttitudeSender() {
// Run the AHRS calcs // Run the AHRS calcs
if s == nil { // s is nil if we should (re-)initialize the Kalman state if s == nil { // s is nil if we should (re-)initialize the Kalman state
log.Println("AHRS Info: initializing new simple AHRS") log.Println("AHRS Info: initializing new simple AHRS")
s = ahrs.InitializeSimple(m, "") s = ahrs.InitializeSimple(m, fmt.Sprintf("/var/log/sensors_%s.csv", time.Now().Format("20060102_150405")))
} }
s.Compute(m) s.Compute(m)
@ -321,13 +321,13 @@ func sensorAttitudeSender() {
makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate makeAHRSGDL90Report() // Send whether or not valid - the function will invalidate the values as appropriate
logger.Log( //logger.Log(
float64(t.UnixNano() / 1000)/1e6, // float64(t.UnixNano() / 1000)/1e6,
m.T, m.A1, m.A2, m.A3, m.B1, m.B2, m.B3, m.M1, m.M2, m.M3, // m.T, m.A1, m.A2, m.A3, m.B1, m.B2, m.B3, m.M1, m.M2, m.M3,
float64(mySituation.LastGroundTrackTime.UnixNano() / 1000)/1e6, m.W1, m.W2, m.W3, // float64(mySituation.LastGroundTrackTime.UnixNano() / 1000)/1e6, m.W1, m.W2, m.W3,
float64(mySituation.LastTempPressTime.UnixNano() / 1000)/1e6, mySituation.Pressure_alt, // float64(mySituation.LastTempPressTime.UnixNano() / 1000)/1e6, mySituation.Pressure_alt,
pitch/ahrs.Deg, roll/ahrs.Deg, heading/ahrs.Deg, headingMag, slipSkid, turnRate, gLoad, // pitch/ahrs.Deg, roll/ahrs.Deg, heading/ahrs.Deg, headingMag, slipSkid, turnRate, gLoad,
float64(mySituation.LastAttitudeTime.UnixNano() / 1000)/1e6) // float64(mySituation.LastAttitudeTime.UnixNano() / 1000)/1e6)
} }
log.Println("AHRS Info: left sensorAttitudeSender loop") log.Println("AHRS Info: left sensorAttitudeSender loop")
} }