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Code Issues Releases Activity

AHRS debugging: Move dump to beginning of block to see the updated lines

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2015 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-27 17:16:25 +00:00 committed by peabody124
parent 3e462b1434
commit 33e6cbebdc
1 changed files with 18 additions and 18 deletions
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36
flight/AHRS/ahrs.c
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@ -370,6 +370,24 @@ for all data to be up to date before doing anything*/
downsample_data();
#ifdef DUMP_EKF
uint8_t framing[16] = { 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0 };
// Dump raw buffer
PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header (1:16)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number (17:20)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & accel_data.filtered.x, 4*3); // accel data (21:32)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & gyro_data.filtered.x, 4*3); // gyro data (33:44)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.updated, 1); // mag update (45)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.scaled.axis, 3*4); // mag data (46:57)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & gps_data, sizeof(gps_data)); // gps data (58:82)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & X, 4 * NUMX); // X (83:134)
for(uint8_t i = 0; i < NUMX; i++)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &(P[i][i]), 4); // diag(P) (135:186)
#endif
/******************** INS ALGORITHM **************************/
if (ahrs_algorithm != AHRSSETTINGS_ALGORITHM_SIMPLE) {
@ -522,24 +540,6 @@ for all data to be up to date before doing anything*/
(int16_t) (Nav.q[2] * 1000),
(int16_t) (Nav.q[3] * 1000));
#endif
#ifdef DUMP_EKF
uint8_t framing[16] = { 15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0 };
// Dump raw buffer
PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], 16); // framing header (1:16)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & total_conversion_blocks, sizeof(total_conversion_blocks)); // dump block number (17:20)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & accel_data.filtered.x, 4*3); // accel data (21:32)
PIOS_COM_SendBufferNonBlocking(PIOS_COM_AUX, (uint8_t *) & gyro_data.filtered.x, 4*3); // gyro data (33:44)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.updated, 1); // mag update (45)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & mag_data.scaled.axis, 3*4); // mag data (46:57)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & gps_data, sizeof(gps_data)); // gps data (58:82)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & X, 4 * NUMX); // X (83:134)
for(uint8_t i = 0; i < NUMX; i++)
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &(P[i][i]), 4); // diag(P) (135:186)
#endif
}
return 0;