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[log] add option to log raw invariant filter inputs and outputs

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This commit is contained in:
Gautier Hattenberger
2014-02-12 15:43:03 +01:00
parent c8678c371e
commit 6bbc295f03
1 changed files with 50 additions and 0 deletions
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sw/airborne/subsystems/ins/ins_float_invariant.c
+50
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@@ -58,6 +58,12 @@
#include "messages.h"
#include "subsystems/datalink/downlink.h"
#if LOG_INVARIANT_FILTER
#include "sdLog.h"
#include "subsystems/chibios-libopencm3/chibios_sdlog.h"
bool_t log_started = FALSE;
#endif
/*------------- =*= Invariant Observers =*= -------------*
*
* State vector :
@@ -243,6 +249,7 @@ void ins_init() {
ins.status = INS_UNINIT;
ins.hf_realign = FALSE;
ins.vf_realign = FALSE;
}
void ins_periodic(void) {}
@@ -337,6 +344,49 @@ void ahrs_propagate(void) {
&ins_impl.meas.pos_gps.z)
});
#if LOG_INVARIANT_FILTER
if (pprzLogFile.fs != NULL) {
if (!log_started) {
// log file header
sdLogWriteLog(&pprzLogFile, "p q r ax ay az gx gy gz gvx gvy gvz mx my mz b qi qx qy qz bp bq br vx vy vz px py pz hb as\n");
log_started = TRUE;
}
else {
sdLogWriteLog(&pprzLogFile, "%.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f %.5f\n",
ins_impl.cmd.rates.p,
ins_impl.cmd.rates.q,
ins_impl.cmd.rates.r,
ins_impl.cmd.accel.x,
ins_impl.cmd.accel.y,
ins_impl.cmd.accel.z,
ins_impl.meas.pos_gps.x,
ins_impl.meas.pos_gps.y,
ins_impl.meas.pos_gps.z,
ins_impl.meas.speed_gps.x,
ins_impl.meas.speed_gps.y,
ins_impl.meas.speed_gps.z,
ins_impl.meas.mag.x,
ins_impl.meas.mag.y,
ins_impl.meas.mag.z,
ins_impl.meas.baro_alt,
ins_impl.state.quat.qi,
ins_impl.state.quat.qx,
ins_impl.state.quat.qy,
ins_impl.state.quat.qz,
ins_impl.state.bias.p,
ins_impl.state.bias.q,
ins_impl.state.bias.r,
ins_impl.state.speed.x,
ins_impl.state.speed.y,
ins_impl.state.speed.z,
ins_impl.state.pos.x,
ins_impl.state.pos.y,
ins_impl.state.pos.z,
ins_impl.state.hb,
ins_impl.state.as);
}
}
#endif
}
void ahrs_update_gps(void) {