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<!DOCTYPE module SYSTEM "module.dtd"> | ||
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<module name="loggers"> | ||
<doc> | ||
<description>Logs to a csv file (only for linux)</description> | ||
</doc> | ||
<header> | ||
<file name="file_logger.h"/> | ||
</header> | ||
<periodic fun="file_logger_periodic()" start="file_logger_start()" stop="file_logger_stop()" autorun="FALSE"/> | ||
<makefile> | ||
<file name="file_logger.c"/> | ||
</makefile> | ||
</module> |
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/* | ||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com> | ||
* | ||
* This file is part of paparazzi. | ||
* | ||
* paparazzi is free software; you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation; either version 2, or (at your option) | ||
* any later version. | ||
* | ||
* paparazzi is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with paparazzi; see the file COPYING. If not, write to | ||
* the Free Software Foundation, 59 Temple Place - Suite 330, | ||
* Boston, MA 02111-1307, USA. | ||
* | ||
*/ | ||
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/** @file modules/loggers/file_logger.c | ||
* @brief File logger for Linux based autopilots | ||
*/ | ||
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#include "file_logger.h" | ||
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#include <stdio.h> | ||
#include "subsystems/imu.h" | ||
#include "firmwares/rotorcraft/stabilization.h" | ||
#include "state.h" | ||
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/** Set the default File logger path to the USB drive */ | ||
#ifndef FILE_LOGGER_PATH | ||
#define FILE_LOGGER_PATH "/data/video/usb/" | ||
#endif | ||
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/** The file pointer */ | ||
static FILE* file_logger; | ||
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/** Start the file logger and open a new file */ | ||
void file_logger_start(void) { | ||
uint32_t counter = 0; | ||
char filename[512]; | ||
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// Check for available files | ||
sprintf(filename, "%s%05d.csv", FILE_LOGGER_PATH, counter); | ||
while ((file_logger = fopen(filename, "r"))) { | ||
fclose(file_logger); | ||
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counter++; | ||
sprintf(filename, "%s%05d.csv", FILE_LOGGER_PATH, counter); | ||
} | ||
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file_logger = fopen(filename, "w"); | ||
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if (file_logger != NULL) { | ||
fprintf( | ||
file_logger, | ||
"counter,gyro_unscaled_p,gyro_unscaled_q,gyro_unscaled_r,accel_unscaled_x,accel_unscaled_y,accel_unscaled_z,mag_unscaled_x,mag_unscaled_y,mag_unscaled_z,COMMAND_THRUST,COMMAND_ROLL,COMMAND_PITCH,COMMAND_YAW,qi,qx,qy,qz\n" | ||
); | ||
} | ||
} | ||
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/** Stop the logger an nicely close the file */ | ||
void file_logger_stop(void) { | ||
fclose(file_logger); | ||
file_logger = NULL; | ||
} | ||
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/** Log the values to a csv file */ | ||
void file_logger_periodic(void) | ||
{ | ||
if (file_logger == NULL) { | ||
return; | ||
} | ||
static uint32_t counter; | ||
struct Int32Quat* quat = stateGetNedToBodyQuat_i(); | ||
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fprintf(file_logger, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\n", | ||
counter, | ||
imu.gyro_unscaled.p, | ||
imu.gyro_unscaled.q, | ||
imu.gyro_unscaled.r, | ||
imu.accel_unscaled.x, | ||
imu.accel_unscaled.y, | ||
imu.accel_unscaled.z, | ||
imu.mag_unscaled.x, | ||
imu.mag_unscaled.y, | ||
imu.mag_unscaled.z, | ||
stabilization_cmd[COMMAND_THRUST], | ||
stabilization_cmd[COMMAND_ROLL], | ||
stabilization_cmd[COMMAND_PITCH], | ||
stabilization_cmd[COMMAND_YAW], | ||
quat->qi, | ||
quat->qx, | ||
quat->qy, | ||
quat->qz | ||
); | ||
counter++; | ||
} |
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/* | ||
* Copyright (C) 2014 Freek van Tienen <freek.v.tienen@gmail.com> | ||
* | ||
* This file is part of paparazzi. | ||
* | ||
* paparazzi is free software; you can redistribute it and/or modify | ||
* it under the terms of the GNU General Public License as published by | ||
* the Free Software Foundation; either version 2, or (at your option) | ||
* any later version. | ||
* | ||
* paparazzi is distributed in the hope that it will be useful, | ||
* but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
* GNU General Public License for more details. | ||
* | ||
* You should have received a copy of the GNU General Public License | ||
* along with paparazzi; see the file COPYING. If not, write to | ||
* the Free Software Foundation, 59 Temple Place - Suite 330, | ||
* Boston, MA 02111-1307, USA. | ||
* | ||
*/ | ||
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/** @file modules/loggers/file_logger.h | ||
* @brief File logger for Linux based autopilots | ||
*/ | ||
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#ifndef FILE_LOGGER_H_ | ||
#define FILE_LOGGER_H_ | ||
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extern void file_logger_start(void); | ||
extern void file_logger_stop(void); | ||
extern void file_logger_periodic(void); | ||
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#endif /* FILE_LOGGER_H_ */ |