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[ardrone] File logger

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closes #788
This commit is contained in:
Freek van Tienen
2014-07-31 13:59:42 +02:00
committed by Felix Ruess
parent c3ea7f9187
commit 2985032ff9
4 changed files with 151 additions and 0 deletions
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conf/airframes/ardrone2_raw.xml
+1
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@@ -29,6 +29,7 @@
<modules main_freq="512">
<load name="gps_ubx_ucenter.xml"/>
<load name="send_imu_mag_current.xml"/>
<load name="file_logger.xml"/>
<!-- load name="../../sw/ext/ardrone2_vision/modules/Mjpeg/ViewVideo.xml"/-->
</modules>
conf/modules/file_logger.xml
+14
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@@ -0,0 +1,14 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="loggers">
<doc>
<description>Logs to a csv file (only for linux)</description>
</doc>
<header>
<file name="file_logger.h"/>
</header>
<periodic fun="file_logger_periodic()" start="file_logger_start()" stop="file_logger_stop()" autorun="FALSE"/>
<makefile>
<file name="file_logger.c"/>
</makefile>
</module>
sw/airborne/modules/loggers/file_logger.c
+102
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@@ -0,0 +1,102 @@
/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** @file modules/loggers/file_logger.c
* @brief File logger for Linux based autopilots
*/
#include "file_logger.h"
#include <stdio.h>
#include "subsystems/imu.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "state.h"
/** Set the default File logger path to the USB drive */
#ifndef FILE_LOGGER_PATH
#define FILE_LOGGER_PATH "/data/video/usb/"
#endif
/** The file pointer */
static FILE* file_logger;
/** Start the file logger and open a new file */
void file_logger_start(void) {
uint32_t counter = 0;
char filename[512];
// Check for available files
sprintf(filename, "%s%05d.csv", FILE_LOGGER_PATH, counter);
while ((file_logger = fopen(filename, "r"))) {
fclose(file_logger);
counter++;
sprintf(filename, "%s%05d.csv", FILE_LOGGER_PATH, counter);
}
file_logger = fopen(filename, "w");
if (file_logger != NULL) {
fprintf(
file_logger,
"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"
);
}
}
/** Stop the logger an nicely close the file */
void file_logger_stop(void) {
fclose(file_logger);
file_logger = NULL;
}
/** Log the values to a csv file */
void file_logger_periodic(void)
{
if (file_logger == NULL) {
return;
}
static uint32_t counter;
struct Int32Quat* quat = stateGetNedToBodyQuat_i();
fprintf(file_logger, "%d,%d,%d,%d,%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,
stabilization_cmd[COMMAND_THRUST],
stabilization_cmd[COMMAND_ROLL],
stabilization_cmd[COMMAND_PITCH],
stabilization_cmd[COMMAND_YAW],
quat->qi,
quat->qx,
quat->qy,
quat->qz
);
counter++;
}
sw/airborne/modules/loggers/file_logger.h
+34
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@@ -0,0 +1,34 @@
/*
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com>
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** @file modules/loggers/file_logger.h
* @brief File logger for Linux based autopilots
*/
#ifndef FILE_LOGGER_H_
#define FILE_LOGGER_H_
extern void file_logger_start(void);
extern void file_logger_stop(void);
extern void file_logger_periodic(void);
#endif /* FILE_LOGGER_H_ */