This is a simple sensor data log processor. It reads accelerometer output from a .log file, calculates the roll and pitch angles and writes the result (attitude estimate) in an output file. It expects data in the following format:
<time_stamp_ms; accel_x_axis; accel_y_axis; accel_z_axis>
where the timestamp is in milliseconds and the remaining values correspond to axis acceleration in millig-unit.
An output file results.txt will be created/overwritten, where each line will follow the format:
<time_stamp_ms; roll_angle; pitch_angle>
where the angles are in radians.
Assuming an input file which contains the line "54741; 27; -22; -982", the program will write "54741; -3.11919; -0.0274811" in the results file.
The mathematical formulas were withdrawn from this document: Tilt Sensing Using a Three-Axis Accelerometer.\
To run this file, you'll need to have an input file containing the accelerometer data in the previously mentioned format.
Beware: depending on the name of the input file, you may have to adjust the inputFile variable name, or else an IO exception may be thrown.
You also need a C++ compiler in order to compile the .cpp file and run it.