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Code Issues Releases Activity

INS data output: Add the latency the logged messages

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This commit is contained in:
James Cotton 2011-09-08 03:39:39 -05:00
parent c87a042195
commit e79e8cdbde
1 changed files with 6 additions and 0 deletions
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6
flight/INS/ins.c
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@ -317,6 +317,11 @@ void simple_update() {
*/
static void print_ekf_binary()
{
static uint32_t timeval;
uint16_t delay;
delay = PIOS_DELAY_DiffuS(timeval);
timeval = PIOS_DELAY_GetRaw();
uint8_t framing[2] = { 0xff, 0x00 };
// Dump raw buffer
PIOS_COM_SendBuffer(PIOS_COM_AUX, &framing[0], sizeof(framing));
@ -329,6 +334,7 @@ static void print_ekf_binary()
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) & altitude_data.altitude, 4);
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &gyro_data.temperature, 4);
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &accel_data.temperature, 4);
PIOS_COM_SendBuffer(PIOS_COM_AUX, (uint8_t *) &delay, 2);
mag_data.updated = 0;
altitude_data.updated = 0;