Nathan Ewin / Mbed 2 deprecated UM6_IMU_AHRS_edit_NJE

Trying to log data from UM6 sensor with GPS receiver LS20031. I have two problems: - I can't log to file at a fast rate (<0.5s) without data values freezing to a fixed value. Print to pc screen it works fine. Ideally I would do this with an interrupt (e.g. ticker) so that the time of each reading is a fixed interval - I removed this as I thought this was causing the problem. - I want to record GPS lat and long. I have setup the GPS ground speed so I know the sensor are communicating. So I possibly havent set the config file to correctly interpet these two signals.

Dependencies:   MODSERIAL mbed

Fork of UM6_IMU_AHRS_2012 by lhiggs CSUM

Files at this revision

API Documentation at this revision

Revision 5:b3cd0bcf2968, committed 2013-05-02

Comitter:
njewin
Date:
Thu May 02 11:38:25 2013 +0000
Parent:
4:aefc0f09fe1c
Child:
6:43029c69b9ac
Commit message:
before removing floats

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Thu May 02 08:52:53 2013 +0000
+++ b/main.cpp	Thu May 02 11:38:25 2013 +0000
@@ -47,13 +47,13 @@
 
 
     FILE *fp = fopen("/local/out3.csv", "w");  // Open "out.txt" on the local file system for writing
-    fprintf(fp, "time (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r");   // sends header to file
+    fprintf(fp, "time (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse(x100 deg),GPSspeed(x100 m/s)\r");   // sends header to file
  
     t.start(); // start data log time
     sync = 1;
     while (enable) {
          logLED = 1; // turns LED3 on when logging starts
-         wait(0.5);                
+         wait(0.05);                
            float time1=t.read();
            float Yaw=data.Yaw;
            float Roll=data.Roll;
@@ -67,17 +67,15 @@
          //  float MagX=data.Mag_Proc_X;
          //  float MagY=data.Mag_Proc_Y;
          //  float MagZ=data.Mag_Proc_Z;
-           float GPSlong=data.GPS_long;
-           float GPSlat=data.GPS_lat;
+         //  float GPSlong=data.GPS_long;
+         //  float GPSlat=data.GPS_lat;
            float GPScourse=data.GPS_course;
            float GPSspeed=data.GPS_speed;
            
-        //   pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg",time1,Yaw,Roll,Pitch);  
-           pc.printf("time1 %3.3f s,Yaw %3.3f deg, Speed %f 0.01m/s,course %f 0.01m/s, long %f deg, lat %f deg\n",time1,Yaw,GPSspeed,GPScourse,GPSlong,GPSlat);  
-          // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f \n",time1,Yaw,Roll,Pitch);
-          // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ);
-          // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ);
-           
+         //  fprintf(fp, "%3.3f, %3.1f,%3.1f,%3.1f, %4.1f,%4.1f,%4.1f, %1.3f,%1.3f,%1.3f, %4.0f,%f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ,GPScourse,GPSspeed);
+        // pc.printf("time %3.3f, yaw %3.1f,%3.1f,%3.1f, gyro %4.1f,%4.1f,%4.1f,accel %1.3f,%1.3f,%1.3f,speed %4.0f, course %5.0f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ,GPScourse,GPSspeed);
+           pc.printf("time %3.3f, yaw %3.3f\n",time1,Yaw);
+           fprintf(fp, "%3.3f,%3.1f,%3.1f\n",time1,Yaw,GyroX);
            pc_activity = !pc_activity;  // Lights LED1 when uart RxBuff has > 40 bytes         
                 
     }  // end while(1) loop