From d499c37d8248be5cfc9d2df020a227aff16ffad8 Mon Sep 17 00:00:00 2001
From: Martin Dieblich <martin.dieblich@gmx.de>
Date: Mon, 27 Sep 2010 15:23:05 +0000
Subject: [PATCH] the "tool" :-)

---
 sw/airborne/fms/libeknav/Makefile           |  9 ++++++-
 sw/airborne/fms/libeknav/raw_log_to_ascii.c | 28 ++++++++++++++++++---
 2 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/sw/airborne/fms/libeknav/Makefile b/sw/airborne/fms/libeknav/Makefile
index b277c372db..3978b2a8d7 100644
--- a/sw/airborne/fms/libeknav/Makefile
+++ b/sw/airborne/fms/libeknav/Makefile
@@ -1,3 +1,10 @@
 
 raw_log_to_ascii: raw_log_to_ascii.c
-	gcc -I../../ -Wall raw_log_to_ascii.c -o raw_log_to_ascii
\ No newline at end of file
+	gcc -I../../ -Wall raw_log_to_ascii.c -o raw_log_to_ascii
+
+
+fetch_log:
+		scp martin@auto3:/tmp/log_test3.bin /home/martin/paparazzi3/trunk/sw/airborne/fms/libeknav
+	
+clean:
+	-rm -f *.o *~ *.d
diff --git a/sw/airborne/fms/libeknav/raw_log_to_ascii.c b/sw/airborne/fms/libeknav/raw_log_to_ascii.c
index da15be6474..0f3c00e038 100644
--- a/sw/airborne/fms/libeknav/raw_log_to_ascii.c
+++ b/sw/airborne/fms/libeknav/raw_log_to_ascii.c
@@ -4,29 +4,51 @@
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <unistd.h>
+#include <stdio.h>
+#include <stdint.h>
+
+
+
 
 #include "math/pprz_algebra_float.h"
 
-// fixme,put that in a header
 struct raw_log_entry {
-  double time;
+  float time;
   struct FloatRates   gyro;
   struct FloatVect3   accel;
   struct FloatVect3   mag;
 };
 
+void print_raw_log_entry(struct raw_log_entry);
+
+#define PRT(a) printf("%f ", a);
+
+
+
 int main(int argc, char** argv) {
 
   const char* filename = "log_test3.bin";
   int raw_log_fd = open(filename, O_RDONLY); 
+  
   // if (fd==-1) blaaa
   
   while (1) {
     struct raw_log_entry e;
     ssize_t nb_read = read(raw_log_fd, &e, sizeof(e));
     if (nb_read != sizeof(e)) break;
-    printf("%f GYRO %f %f %f\n", e.time, e.gyro.p, e.gyro.q, e.gyro.r);
+    print_raw_log_entry(e);
+    //printf("%f %f %f %f", e.time, e.gyro.p, e.gyro.q, e.gyro.r);
+    printf("\n");
   }
 
   return 0;
 }
+
+
+
+void print_raw_log_entry(struct raw_log_entry entry){
+	printf("%f\t", entry.time);
+	printf("%+f %+f %+f\t", entry.gyro.p, entry.gyro.q, entry.gyro.r);
+	printf("%+f %+f %+f\t", entry.accel.x, entry.accel.y, entry.accel.z);
+	printf("%+f %+f %+f\t", entry.mag.x, entry.mag.y, entry.mag.z);
+}