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file logger independent of firmware

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Removing ugly fix from openuas
This commit is contained in:
Ewoud Smeur
2018-04-17 14:29:29 +02:00
parent 48aa610423
commit 2193ad3304
1 changed files with 2 additions and 51 deletions
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sw/airborne/modules/loggers/file_logger.c
+2 -51
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@@ -22,7 +22,6 @@
/** @file modules/loggers/file_logger.c /** @file modules/loggers/file_logger.c
* @brief File logger for Linux based autopilots * @brief File logger for Linux based autopilots
* This module purpose is for debugging airframest
*/ */
#include "file_logger.h" #include "file_logger.h"
@@ -31,17 +30,7 @@
#include "std.h" #include "std.h"
#include "subsystems/imu.h" #include "subsystems/imu.h"
/* Ugly fix until Fixedwing and rotorcraft are uniofied in a nice way
* COMMAND_THRUST only and always defined in ROTORCRAFT
* A gliding Rotorcraft is an ecxeption ;) */
#ifdef COMMAND_THRUST
#include "firmwares/rotorcraft/stabilization.h" #include "firmwares/rotorcraft/stabilization.h"
#else
/* adaptive also an option */
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
#endif
#include "state.h" #include "state.h"
/** Set the default File logger path to the USB drive */ /** Set the default File logger path to the USB drive */
@@ -72,12 +61,7 @@ void file_logger_start(void)
if (file_logger != NULL) { if (file_logger != NULL) {
fprintf( fprintf(
file_logger, file_logger,
/* Add and removed values here as wished to log */
#ifdef COMMAND_THRUST
"counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,COMMAND_THRUST,COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,qi,qx,qy,qz\n" "counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,COMMAND_THRUST,COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,qi,qx,qy,qz\n"
#else
"counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,qi,qx,qy,qz\n"
#endif
); );
} }
} }
@@ -91,7 +75,7 @@ void file_logger_stop(void)
} }
} }
/** Log the values to a CSV file */ /** Log the values to a csv file */
void file_logger_periodic(void) void file_logger_periodic(void)
{ {
if (file_logger == NULL) { if (file_logger == NULL) {
@@ -100,9 +84,7 @@ void file_logger_periodic(void)
static uint32_t counter; static uint32_t counter;
struct Int32Quat *quat = stateGetNedToBodyQuat_i(); struct Int32Quat *quat = stateGetNedToBodyQuat_i();
/* Add and removed values here as wished to log */ fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
#ifdef COMMAND_THRUST
fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
counter, counter,
imu.gyro_unscaled.p, imu.gyro_unscaled.p,
imu.gyro_unscaled.q, imu.gyro_unscaled.q,
@@ -122,36 +104,5 @@ void file_logger_periodic(void)
quat->qy, quat->qy,
quat->qz quat->qz
); );
#else
fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n",
counter,
imu.gyro_unscaled.p,
imu.gyro_unscaled.q,
imu.gyro_unscaled.r,
imu.accel_unscaled.x,
imu.accel_unscaled.y,
imu.accel_unscaled.z,
imu.mag_unscaled.x,
imu.mag_unscaled.y,
imu.mag_unscaled.z,
/* imu.gyro_scaled.p,
imu.gyro_scaled.q,
imu.gyro_scaled.r,
imu.accel_scaled.x,
imu.accel_scaled.y,
imu.accel_scaled.z,
imu.mag_scaled.x,
imu.mag_scaled.y,
imu.mag_scaled.z, */
//stabilization_cmd[COMMAND_THROTTLE],
//stabilization_cmd[COMMAND_ROLL],
//stabilization_cmd[COMMAND_PITCH],
////stabilization_cmd[COMMAND_PITCH], //for time being...
quat->qi,
quat->qx,
quat->qy,
quat->qz
);
#endif
counter++; counter++;
} }