Revision 27:24fd8e32511c, committed 2013-01-10

Comitter:

tylerjw

Date:

Thu Jan 10 19:20:18 2013 +0000

Parent:

26:85cdb1031eb1

Child:

28:032d55fa57b8

Commit message:

added course_to and distance to sensor log

Changed in this revision

--- a/config.h	Thu Jan 10 19:03:34 2013 +0000
+++ b/config.h	Thu Jan 10 19:20:18 2013 +0000
@@ -14,7 +14,7 @@
 
 const float distance_fudge_km = 0.1; // stop turning if within distance_fudge km
 
-const float BAT_GPS_MUL = 15.51;
-const float BAT_MBED_MUL = 10.26;
+const float BAT_GPS_MUL = 16.14; // values for calculating battery voltage
+const float BAT_MBED_MUL = 10.35;
 
 #endif
\ No newline at end of file

--- a/main.cpp	Thu Jan 10 19:03:34 2013 +0000
+++ b/main.cpp	Thu Jan 10 19:20:18 2013 +0000
@@ -123,6 +123,7 @@
     float time;
     float gps_battery_voltage, mbed_battery_voltage;
     float temp;
+    float distance, course_to, course;
     
     sd_sem.wait(); // wait for the sd card to initialize and open files
 
@@ -137,7 +138,7 @@
     queue_sensor_line.put(message);
     
     message = mpool_sensor_line.alloc();
-    sprintf(message->line, ",Temperature,GPS Altitude,GPS Course \r\n");
+    sprintf(message->line, ",Temperature,GPS Altitude,GPS Course,Course to Target,Distance \r\n");
     queue_sensor_line.put(message);
 
     while(true) {
@@ -156,8 +157,13 @@
 
         //temperature
         temp = temperature.sample_f();
+        
+        //gps
+        distance = nmea.calc_dist_to_km(target_lat, target_lon);
+        course_to = nmea.calc_initial_bearing(target_lat, target_lon);
+        course = nmea.track();
 
-        sprintf(message->line, "%f,%f,%f,%f,%f,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft(),nmea.track());
+        sprintf(message->line, "%f,%f,%f,%f,%f,%f,%f,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft(),course,course_to,distance);
         queue_sensor_line.put(message);
         
         Thread::wait(100);