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[paparazzi-commits] [6091] Added a lot of logs, changed the way or raw-l
|
From: |
Martin Dieblich |
|
Subject: |
[paparazzi-commits] [6091] Added a lot of logs, changed the way or raw-logging and cleaned test_libeknav_4 |
|
Date: |
Wed, 06 Oct 2010 17:28:29 +0000 |
Revision: 6091
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6091
Author: mdieblich
Date: 2010-10-06 17:28:28 +0000 (Wed, 06 Oct 2010)
Log Message:
-----------
Added a lot of logs, changed the way or raw-logging and cleaned test_libeknav_4
Modified Paths:
--------------
paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
paparazzi3/trunk/doc/pprz_geodetic/ned_enu.tex
paparazzi3/trunk/sw/airborne/fms/libeknav/Makefile
paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf.hpp
paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log.h
paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log_to_ascii.c
paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.cpp
paparazzi3/trunk/sw/airborne/fms/libeknav/test_libeknav_4.hpp
Added Paths:
-----------
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_26__15_58_04.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_26__16_27_05(2).data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_27__15_53_38.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_27__16_21_08.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside level only mag/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside level only
mag/bla.dat
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside level only
mag/log_ins_test3.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside slightly
spinning in all directions only mag/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside slightly
spinning in all directions only mag/bla.dat
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/inside slightly
spinning in all directions only mag/log_ins_test3.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level mag+grav/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level
mag+grav/bla.dat
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level
mag+grav/log_ins_test3.data
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level only mag/
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level only
mag/bla.dat
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/outside level only
mag/log_ins_test3.data
Modified: paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml 2010-10-06
05:36:18 UTC (rev 6090)
+++ paparazzi3/trunk/conf/airframes/Poine/test_libeknav.xml 2010-10-06
17:28:28 UTC (rev 6091)
@@ -4,7 +4,7 @@
<makefile>
HOST=auto1
-
+ USER=root
PAPARAZZI_INC = -I$(PAPARAZZI_HOME)/var/$(AIRCRAFT) \
-I$(PAPARAZZI_SRC)/sw/airborne \
-I$(PAPARAZZI_SRC)/sw/include
Modified: paparazzi3/trunk/doc/pprz_geodetic/ned_enu.tex
===================================================================
--- paparazzi3/trunk/doc/pprz_geodetic/ned_enu.tex 2010-10-06 05:36:18 UTC
(rev 6090)
+++ paparazzi3/trunk/doc/pprz_geodetic/ned_enu.tex 2010-10-06 17:28:28 UTC
(rev 6091)
@@ -30,7 +30,7 @@
or directly switching the values
\begin{equation}
\begin{pmatrix}x \\ y \\ z \end{pmatrix}_{NED} =
-\begin{pmatrix}y \\ x \\ -z \end{pmatrix}_{NED}
+\begin{pmatrix}y \\ x \\ -z \end{pmatrix}_{ENU}
\end{equation}
\inHfile{ENU\_OF\_TO\_NED(po, pi)}{pprz\_geodetic}
\inHfile{INT32\_VECT2\_ENU\_OF\_NED(o, i)}{pprz\_geodetic\_int}
@@ -50,4 +50,4 @@
\input{transformations/ecef2ned_enu}
\subsubsection*{from LLA}
-\input{transformations/lla2ned_enu}
\ No newline at end of file
+\input{transformations/lla2ned_enu}
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/Makefile
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/Makefile 2010-10-06 05:36:18 UTC
(rev 6090)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/Makefile 2010-10-06 17:28:28 UTC
(rev 6091)
@@ -4,9 +4,9 @@
fetch_log:
- scp @auto1:/tmp/log_ins_test3.data .
scp @auto1:/tmp/log_test3.bin .
./raw_log_to_ascii > bla.dat
+ scp @auto1:/tmp/log_ins_test3.data .
clean:
-rm -f *.o *~ *.d
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf.hpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf.hpp 2010-10-06
05:36:18 UTC (rev 6090)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf.hpp 2010-10-06
17:28:28 UTC (rev 6091)
@@ -164,6 +164,7 @@
Quaterniond initial_orientation =
Quaterniond::Identity(),
const Vector3d& vel_estimate = Vector3d::Zero());
+
/* //Old one without orientation_init()
basic_ins_qkf(const Vector3d& pos_estimate,
double pos_error, double bias_error, double v_error,
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
2010-10-06 05:36:18 UTC (rev 6090)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/ins_qkf_predict.cpp
2010-10-06 17:28:28 UTC (rev 6091)
@@ -28,10 +28,9 @@
#include "ins_qkf.hpp"
#include "assertions.hpp"
-
#ifdef TIME_OPS
-#include "timer.hpp"
-# include <iostream>
+//#include "timer.hpp"
+#include <iostream>
#endif
using namespace Eigen;
@@ -59,12 +58,25 @@
// accel_cov is the relationship between error vectors in the tangent
space
// of the vehicle orientation and the translational reference frame.
+
Matrix3d rot =
_this.avg_state.orientation.conjugate().toRotationMatrix();
Vector3d accel_ecef = rot*accel_meas; // a_e = (q_e2b)^* x
a_b = q_b2e x a_b
Vector3d accel_gravity = _this.avg_state.position.normalized()*(-9.81);
Vector3d accel_resid = accel_ecef + accel_gravity;
// a = (xdd-g)+g = xdd;
+ #if 0
+ printf("==================================================\n");
+ printf("Quaternion: % 1.4f % 1.4f % 1.4f % 1.4f\n",
+
_this.avg_state.orientation.w(),
+
_this.avg_state.orientation.x(),
+
_this.avg_state.orientation.y(),
+
_this.avg_state.orientation.z());
+ printf("Accel_meas: % 1.4f % 1.4f % 1.4f\n", accel_meas(0),
accel_meas(1), accel_meas(2));
+ printf("Accel_ecef: % 1.4f % 1.4f % 1.4f\n", accel_ecef(0),
accel_ecef(1), accel_ecef(2));
+ printf("Accel_grav: % 1.4f % 1.4f % 1.4f\n", accel_gravity(0),
accel_gravity(1), accel_gravity(2));
+ #endif
+
#if 0
// This form works well with zero static acceleration.
Matrix<double, 3, 3> accel_cov =
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log.h
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log.h 2010-10-06 05:36:18 UTC
(rev 6090)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log.h 2010-10-06 17:28:28 UTC
(rev 6091)
@@ -3,13 +3,14 @@
#include "math/pprz_algebra_float.h"
-struct raw_log_entry {
+struct __attribute__ ((packed)) raw_log_entry{
float time;
struct FloatRates gyro;
struct FloatVect3 accel;
struct FloatVect3 mag;
struct FloatVect3 ecef_pos;
struct FloatVect3 ecef_vel;
+ uint8_t data_valid;
};
#endif /* LIBEKNAV_RAW_LOG_H */
Modified: paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log_to_ascii.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log_to_ascii.c
2010-10-06 05:36:18 UTC (rev 6090)
+++ paparazzi3/trunk/sw/airborne/fms/libeknav/raw_log_to_ascii.c
2010-10-06 17:28:28 UTC (rev 6091)
@@ -47,6 +47,7 @@
void print_raw_log_entry(struct raw_log_entry* entry){
printf("%f\t", entry->time);
+ printf("%d\t", entry->data_valid);
printf("%+f %+f %+f\t", entry->gyro.p, entry->gyro.q, entry->gyro.r);
printf("%+f %+f %+f\t", entry->accel.x, entry->accel.y, entry->accel.z);
printf("%+f %+f %+f\t", entry->mag.x, entry->mag.y, entry->mag.z);
Added:
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_26__15_58_04.data
===================================================================
---
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_26__15_58_04.data
(rev 0)
+++
paparazzi3/trunk/sw/airborne/fms/libeknav/saved_logs/australia/10_09_26__15_58_04.data
2010-10-06 17:28:28 UTC (rev 6091)
@@ -0,0 +1,67988 @@
+1.939 2 IMU_ACCEL_RAW 40480 39272 37384
+1.939 2 IMU_GYRO_RAW 30800 32416 31760
+1.943 2 IMU_MAG_RAW 2298 1984 2189
+2.003 2 IMU_ACCEL_RAW 40480 39296 37408
+2.007 2 IMU_GYRO_RAW 30760 32356 31744
+2.007 2 IMU_MAG_RAW 2297 1984 2188
+2.011 2 BARO_RAW 807 0
+2.016 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 346
+2.055 2 IMU_ACCEL_RAW 40512 39296 37392
+2.056 2 IMU_GYRO_RAW 30912 32400 31652
+2.063 2 IMU_MAG_RAW 2299 1984 2187
+2.115 2 IMU_ACCEL_RAW 40472 39264 37376
+2.119 2 IMU_GYRO_RAW 30944 32456 31688
+2.123 2 IMU_MAG_RAW 2298 1985 2189
+2.127 2 BARO_RAW 806 0
+2.127 2 DL_VALUE 32 0.
+2.172 2 IMU_ACCEL_RAW 40480 39232 37408
+2.179 2 IMU_GYRO_RAW 30920 32416 31736
+2.179 2 IMU_MAG_RAW 2297 1984 2188
+2.231 2 IMU_ACCEL_RAW 40480 39248 37416
+2.235 2 IMU_GYRO_RAW 30816 32488 31713
+2.239 2 IMU_MAG_RAW 2298 1985 2187
+2.243 2 BARO_RAW 805 0
+2.292 2 IMU_ACCEL_RAW 40456 39264 37416
+2.292 2 IMU_GYRO_RAW 30800 32424 31748
+2.293 2 IMU_MAG_RAW 2297 1984 2188
+2.323 2 PONG
+2.351 2 IMU_ACCEL_RAW 40608 39432 37536
+2.351 2 IMU_GYRO_RAW 30848 32404 31748
+2.355 2 IMU_MAG_RAW 2298 1986 2187
+2.359 2 BARO_RAW 806 0
+2.408 2 IMU_ACCEL_RAW 40480 39296 37408
+2.408 2 IMU_GYRO_RAW 30816 32328 31784
+2.415 2 IMU_MAG_RAW 2300 1985 2188
+2.467 2 IMU_ACCEL_RAW 40480 39296 37408
+2.471 2 IMU_GYRO_RAW 30804 32416 31736
+2.475 2 IMU_MAG_RAW 2300 1984 2188
+2.475 2 BARO_RAW 806 0
+2.523 2 IMU_ACCEL_RAW 40480 39296 37392
+2.527 2 IMU_GYRO_RAW 30864 32448 31808
+2.531 2 IMU_MAG_RAW 2297 1983 2188
+2.588 2 IMU_ACCEL_RAW 40464 39304 37408
+2.589 2 IMU_GYRO_RAW 30912 32448 31652
+2.589 2 IMU_MAG_RAW 2299 1984 2187
+2.595 2 BARO_RAW 806 0
+2.639 2 IMU_ACCEL_RAW 40464 39300 37408
+2.644 2 IMU_GYRO_RAW 30824 32400 31664
+2.646 2 IMU_MAG_RAW 2298 1981 2188
+2.703 2 IMU_ACCEL_RAW 40480 39272 37376
+2.707 2 IMU_GYRO_RAW 30848 32480 31752
+2.711 2 IMU_MAG_RAW 2299 1984 2189
+2.715 2 BARO_RAW 805 0
+2.715 2 DL_VALUE 33 0.
+2.756 2 DOWNLINK_STATUS 350 355198 19803 3 1116. 65. 29.95
+2.756 2 IMU_ACCEL_RAW 40488 39296 37380
+2.763 2 IMU_GYRO_RAW 30864 32384 31732
+2.763 2 IMU_MAG_RAW 2298 1981 2187
+2.819 2 IMU_ACCEL_RAW 40480 39264 37396
+2.823 2 IMU_GYRO_RAW 30784 32408 31752
+2.823 2 IMU_MAG_RAW 2297 1981 2187
+2.827 2 BARO_RAW 805 0
+2.875 2 IMU_ACCEL_RAW 40448 39264 37408
+2.876 2 IMU_GYRO_RAW 30864 32372 31808
+2.879 2 IMU_MAG_RAW 2299 1983 2188
+2.937 2 IMU_ACCEL_RAW 40480 39272 37416
+2.938 2 IMU_GYRO_RAW 30816 32416 31776
+2.943 2 IMU_MAG_RAW 2299 1983 2189
+2.947 2 BARO_RAW 807 0
+2.991 2 IMU_ACCEL_RAW 40456 39272 37424
+2.995 2 IMU_GYRO_RAW 30816 32408 31648
+2.999 2 IMU_MAG_RAW 2296 1983 2189
+3.055 2 IMU_ACCEL_RAW 40456 39272 37392
+3.059 2 IMU_GYRO_RAW 30848 32424 31728
+3.060 2 IMU_MAG_RAW 2299 1984 2187
+3.063 2 BARO_RAW 806 0
+3.107 2 IMU_ACCEL_RAW 40480 39204 37376
+3.111 2 IMU_GYRO_RAW 30816 32432 31686
+3.115 2 IMU_MAG_RAW 2298 1981 2190
+3.171 2 IMU_ACCEL_RAW 40452 39188 37392
+3.175 2 IMU_GYRO_RAW 30864 32352 31704
+3.179 2 IMU_MAG_RAW 2298 1985 2187
+3.179 2 BARO_RAW 805 0
+3.229 2 IMU_ACCEL_RAW 40456 39264 37376
+3.230 2 IMU_GYRO_RAW 30896 32400 31688
+3.234 2 IMU_MAG_RAW 2298 1981 2187
+3.291 2 IMU_ACCEL_RAW 40496 39264 37408
+3.295 2 IMU_GYRO_RAW 30880 32368 31672
+3.302 2 IMU_MAG_RAW 2298 1985 2188
+3.302 2 BARO_RAW 805 0
+3.303 2 DL_VALUE 34 210.
+3.344 2 IMU_ACCEL_RAW 40484 39264 37392
+3.347 2 IMU_GYRO_RAW 30788 32464 31808
+3.351 2 IMU_MAG_RAW 2299 1983 2187
+3.411 2 IMU_ACCEL_RAW 40464 39296 37392
+3.420 2 IMU_GYRO_RAW 30848 32456 31712
+3.420 2 IMU_MAG_RAW 2296 1983 2188
+3.420 2 BARO_RAW 806 0
+3.432 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 347
+3.463 2 IMU_ACCEL_RAW 40528 39300 37424
+3.463 2 IMU_GYRO_RAW 30848 32436 31760
+3.467 2 IMU_MAG_RAW 2299 1984 2189
+3.523 2 IMU_ACCEL_RAW 40480 39304 37408
+3.527 2 IMU_GYRO_RAW 30832 32424 31680
+3.531 2 IMU_MAG_RAW 2298 1986 2189
+3.531 2 BARO_RAW 806 0
+3.579 2 IMU_ACCEL_RAW 40480 39296 37408
+3.580 2 IMU_GYRO_RAW 30832 32368 31728
+3.583 2 IMU_MAG_RAW 2297 1983 2186
+3.639 2 IMU_ACCEL_RAW 40488 39272 37396
+3.643 2 IMU_GYRO_RAW 30944 32464 31700
+3.647 2 IMU_MAG_RAW 2299 1985 2189
+3.647 2 BARO_RAW 805 0
+3.696 2 IMU_ACCEL_RAW 40464 39312 37408
+3.699 2 IMU_GYRO_RAW 30848 32320 31704
+3.703 2 IMU_MAG_RAW 2298 1985 2187
+3.755 2 IMU_ACCEL_RAW 40480 39232 37360
+3.756 2 DOWNLINK_STATUS 351 356278 19865 3 1080. 62. 29.95
+3.759 2 IMU_GYRO_RAW 30880 32456 31704
+3.763 2 IMU_MAG_RAW 2298 1984 2189
+3.763 2 BARO_RAW 806 0
+3.811 2 IMU_ACCEL_RAW 40488 39272 37376
+3.815 2 IMU_GYRO_RAW 30800 32484 31736
+3.819 2 IMU_MAG_RAW 2297 1981 2188
+3.875 2 IMU_ACCEL_RAW 40448 39296 37384
+3.879 2 IMU_GYRO_RAW 30808 32400 31748
+3.883 2 IMU_MAG_RAW 2299 1983 2188
+3.883 2 BARO_RAW 804 0
+3.887 2 DL_VALUE 35 0.
+3.933 2 IMU_ACCEL_RAW 40496 39248 37392
+3.933 2 IMU_GYRO_RAW 30896 32384 31736
+3.939 2 IMU_MAG_RAW 2298 1983 2189
+3.991 2 IMU_ACCEL_RAW 40464 39296 37408
+3.995 2 IMU_GYRO_RAW 30896 32408 31700
+3.999 2 IMU_MAG_RAW 2297 1984 2188
+3.999 2 BARO_RAW 804 0
+4.048 2 IMU_ACCEL_RAW 40456 39296 37396
+4.048 2 IMU_GYRO_RAW 30824 32480 31748
+4.051 2 IMU_MAG_RAW 2298 1983 2189
+4.107 2 IMU_ACCEL_RAW 40480 39232 37392
+4.111 2 IMU_GYRO_RAW 30848 32424 31712
+4.115 2 IMU_MAG_RAW 2298 1980 2188
+4.119 2 BARO_RAW 805 0
+4.164 2 IMU_ACCEL_RAW 40456 39296 37396
+4.165 2 IMU_GYRO_RAW 30880 32480 31680
+4.171 2 IMU_MAG_RAW 2298 1983 2188
+4.231 2 IMU_ACCEL_RAW 40496 39232 37376
+4.231 2 IMU_GYRO_RAW 30864 32336 31776
+4.235 2 IMU_MAG_RAW 2299 1985 2188
+4.235 2 BARO_RAW 804 0
+4.243 2 ALIVE 170,165,117,80,189,122,34,108,49,18,185,86,99,79,228,25
+4.279 2 IMU_ACCEL_RAW 40472 39312 37408
+4.283 2 IMU_GYRO_RAW 30816 32368 31696
+4.287 2 IMU_MAG_RAW 2297 1983 2188
+4.343 2 IMU_ACCEL_RAW 40480 39312 37384
+4.347 2 IMU_GYRO_RAW 30848 32432 31808
+4.351 2 IMU_MAG_RAW 2297 1985 2187
+4.351 2 BARO_RAW 805 0
+4.399 2 IMU_ACCEL_RAW 40488 39248 37376
+4.403 2 IMU_GYRO_RAW 30832 32384 31760
+4.403 2 IMU_MAG_RAW 2297 1985 2187
+4.464 2 IMU_ACCEL_RAW 40480 39312 37380
+4.464 2 IMU_GYRO_RAW 30864 32456 31712
+4.471 2 IMU_MAG_RAW 2298 1983 2188
+4.471 2 BARO_RAW 804 0
+4.472 2 DL_VALUE 36 0.
+4.515 2 IMU_ACCEL_RAW 40496 39296 37392
+4.519 2 IMU_GYRO_RAW 30816 32432 31728
+4.523 2 IMU_MAG_RAW 2296 1985 2186
+4.576 2 IMU_ACCEL_RAW 40480 39280 37412
+4.579 2 IMU_GYRO_RAW 30756 32480 31760
+4.583 2 IMU_MAG_RAW 2296 1985 2188
+4.583 2 BARO_RAW 804 0
+4.635 2 IMU_ACCEL_RAW 40448 39332 37392
+4.635 2 IMU_GYRO_RAW 30866 32496 31688
+4.636 2 IMU_MAG_RAW 2296 1984 2188
+4.695 2 IMU_ACCEL_RAW 40496 39296 37360
+4.699 2 IMU_GYRO_RAW 30792 32408 31714
+4.703 2 IMU_MAG_RAW 2296 1985 2187
+4.703 2 BARO_RAW 804 0
+4.720 2 WIND_INFO 2 42 0. 0. 0.
+4.751 2 IMU_ACCEL_RAW 40468 39296 37392
+4.790 2 IMU_GYRO_RAW 30800 32418 31704
+4.790 2 IMU_MAG_RAW 2299 1984 2187
+4.791 2 DOWNLINK_STATUS 352 357403 19930 3 1125. 65. 29.95
+4.815 2 IMU_ACCEL_RAW 40496 39344 37392
+4.819 2 IMU_GYRO_RAW 30784 32432 31730
+4.819 2 IMU_MAG_RAW 2299 1984 2189
+4.823 2 BARO_RAW 805 0
+4.827 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 348
+4.867 2 IMU_ACCEL_RAW 40512 39264 37408
+4.871 2 IMU_GYRO_RAW 30848 32432 31720
+4.871 2 IMU_MAG_RAW 2299 1984 2188
+4.928 2 IMU_ACCEL_RAW 40464 39272 37392
+4.935 2 IMU_GYRO_RAW 30848 32408 31712
+4.935 2 IMU_MAG_RAW 2297 1981 2187
+4.939 2 BARO_RAW 805 0
+4.983 2 IMU_ACCEL_RAW 40480 39248 37408
+4.987 2 IMU_GYRO_RAW 30816 32464 31720
+4.991 2 IMU_MAG_RAW 2296 1983 2187
+5.047 2 IMU_ACCEL_RAW 40488 39248 37360
+5.051 2 IMU_GYRO_RAW 30880 32352 31720
+5.057 2 IMU_MAG_RAW 2296 1981 2189
+5.057 2 BARO_RAW 804 0
+5.057 2 DL_VALUE 37 1024.
+5.104 2 IMU_ACCEL_RAW 40480 39272 37392
+5.104 2 IMU_GYRO_RAW 30756 32424 31704
+5.107 2 IMU_MAG_RAW 2296 1985 2189
+5.163 2 IMU_ACCEL_RAW 40496 39240 37408
+5.167 2 IMU_GYRO_RAW 30824 32464 31748
+5.171 2 IMU_MAG_RAW 2298 1985 2188
+5.171 2 BARO_RAW 804 0
+5.222 2 IMU_ACCEL_RAW 40496 39264 37408
+5.222 2 IMU_GYRO_RAW 30896 32368 31704
+5.223 2 IMU_MAG_RAW 2299 1981 2188
+5.284 2 IMU_ACCEL_RAW 40484 39264 37392
+5.284 2 IMU_GYRO_RAW 30784 32404 31700
+5.285 2 IMU_MAG_RAW 2297 1983 2188
+5.291 2 BARO_RAW 804 0
+5.335 2 IMU_ACCEL_RAW 40480 39240 37384
+5.339 2 IMU_GYRO_RAW 30848 32480 31760
+5.339 2 IMU_MAG_RAW 2298 1985 2187
+5.399 2 IMU_ACCEL_RAW 40484 39264 37384
+5.405 2 IMU_GYRO_RAW 30800 32400 31688
+5.405 2 IMU_MAG_RAW 2298 1985 2186
+5.408 2 BARO_RAW 803 0
+5.451 2 IMU_ACCEL_RAW 40480 39264 37376
+5.456 2 IMU_GYRO_RAW 30864 32516 31764
+5.459 2 IMU_MAG_RAW 2296 1984 2187
+5.515 2 IMU_ACCEL_RAW 40480 39248 37416
+5.519 2 IMU_GYRO_RAW 30800 32448 31720
+5.525 2 IMU_MAG_RAW 2297 1985 2186
+5.525 2 BARO_RAW 804 0
+5.573 2 IMU_ACCEL_RAW 40464 39252 37416
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+59.419 2 IMU_ACCEL_RAW 40496 39272 37360
+59.423 2 IMU_GYRO_RAW 30800 32400 31660
+59.423 2 IMU_MAG_RAW 2383 2286 2182
+59.427 2 BARO_RAW 807 0
+59.476 2 IMU_ACCEL_RAW 40496 39296 37376
+59.476 2 IMU_GYRO_RAW 30784 32448 31700
+59.480 2 IMU_MAG_RAW 2383 2286 2183
+59.539 2 IMU_ACCEL_RAW 40480 39296 37408
+59.543 2 IMU_GYRO_RAW 30816 32384 31696
+59.547 2 IMU_MAG_RAW 2384 2286 2183
+59.547 2 BARO_RAW 807 0
+59.551 2 DL_VALUE 16 -380.
+59.592 2 IMU_ACCEL_RAW 40488 39296 37384
+59.595 2 IMU_GYRO_RAW 30848 32464 31760
+59.599 2 IMU_MAG_RAW 2383 2286 2184
+59.660 2 IMU_ACCEL_RAW 40480 39280 37408
+59.660 2 IMU_GYRO_RAW 30864 32392 31720
+59.664 2 IMU_MAG_RAW 2382 2287 2183
+59.667 2 BARO_RAW 807 0
+59.671 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 403
+59.712 2 IMU_ACCEL_RAW 40496 39328 37376
+59.712 2 IMU_GYRO_RAW 30824 32384 31744
+59.715 2 IMU_MAG_RAW 2383 2286 2182
+59.745 2 DOWNLINK_STATUS 407 417067 23380 3 1073. 62. 40.72
+59.772 2 IMU_ACCEL_RAW 40488 39296 37348
+59.772 2 IMU_GYRO_RAW 30816 32376 31680
+59.775 2 IMU_MAG_RAW 2383 2288 2183
+59.779 2 BARO_RAW 808 0
+59.827 2 IMU_ACCEL_RAW 40488 39264 37384
+59.831 2 IMU_GYRO_RAW 30792 32384 31729
+59.832 2 IMU_MAG_RAW 2382 2286 2181
+59.891 2 IMU_ACCEL_RAW 40480 39296 37408
+59.892 2 IMU_GYRO_RAW 30864 32464 31784
+59.899 2 IMU_MAG_RAW 2384 2287 2182
+59.899 2 BARO_RAW 807 0
+59.944 2 IMU_ACCEL_RAW 40496 39296 37408
+59.947 2 IMU_GYRO_RAW 30792 32368 31718
+59.951 2 IMU_MAG_RAW 2379 2285 2182
+60.007 2 IMU_ACCEL_RAW 40480 39296 37416
+60.011 2 IMU_GYRO_RAW 30884 32400 31680
+60.011 2 IMU_MAG_RAW 2383 2287 2186
+60.015 2 BARO_RAW 807 0
+60.059 2 IMU_ACCEL_RAW 40496 39300 37376
+60.063 2 IMU_GYRO_RAW 30800 32408 31680
+60.067 2 IMU_MAG_RAW 2382 2285 2183
+60.134 2 IMU_ACCEL_RAW 40496 39264 37392
+60.134 2 IMU_GYRO_RAW 30920 32352 31700
+60.134 2 IMU_MAG_RAW 2381 2287 2184
+60.134 2 BARO_RAW 807 0
+60.134 2 DL_VALUE 17 -320.
+60.183 2 IMU_ACCEL_RAW 40496 39264 37352
+60.183 2 IMU_GYRO_RAW 30880 32424 31744
+60.184 2 IMU_MAG_RAW 2383 2287 2182
+60.243 2 IMU_ACCEL_RAW 40480 39296 37408
+60.244 2 IMU_GYRO_RAW 30920 32464 31752
+60.247 2 IMU_MAG_RAW 2382 2287 2184
+60.251 2 BARO_RAW 807 0
+60.295 2 IMU_ACCEL_RAW 40480 39296 37408
+60.299 2 IMU_GYRO_RAW 30736 32360 31680
+60.303 2 IMU_MAG_RAW 2382 2286 2182
+60.355 2 IMU_ACCEL_RAW 40480 39296 37392
+60.359 2 IMU_GYRO_RAW 30888 32416 31652
+60.363 2 IMU_MAG_RAW 2382 2285 2183
+60.367 2 BARO_RAW 807 0
+60.415 2 IMU_ACCEL_RAW 40464 39264 37408
+60.416 2 IMU_GYRO_RAW 30848 32400 31776
+60.419 2 IMU_MAG_RAW 2381 2286 2184
+60.475 2 IMU_ACCEL_RAW 40496 39264 37392
+60.479 2 IMU_GYRO_RAW 30852 32352 31824
+60.480 2 IMU_MAG_RAW 2382 2287 2182
+60.483 2 BARO_RAW 807 0
+60.532 2 IMU_ACCEL_RAW 40488 39296 37384
+60.532 2 IMU_GYRO_RAW 30864 32368 31648
+60.533 2 IMU_MAG_RAW 2381 2286 2182
+60.591 2 IMU_ACCEL_RAW 40484 39296 37380
+60.595 2 IMU_GYRO_RAW 30800 32400 31728
+60.599 2 IMU_MAG_RAW 2382 2286 2185
+60.599 2 BARO_RAW 807 0
+60.647 2 IMU_ACCEL_RAW 40480 39296 37380
+60.648 2 IMU_GYRO_RAW 30784 32496 31728
+60.651 2 IMU_MAG_RAW 2381 2285 2181
+60.711 2 IMU_ACCEL_RAW 40472 39300 37392
+60.715 2 IMU_GYRO_RAW 30912 32368 31736
+60.719 2 IMU_MAG_RAW 2384 2287 2182
+60.719 2 BARO_RAW 808 0
+60.723 2 DL_VALUE 18 -75.
+60.746 2 DOWNLINK_STATUS 408 418133 23442 3 1066. 62. 40.72
+60.763 2 IMU_ACCEL_RAW 40480 39296 37408
+60.767 2 IMU_GYRO_RAW 30784 32424 31784
+60.771 2 IMU_MAG_RAW 2383 2288 2182
+60.831 2 IMU_ACCEL_RAW 40480 39252 37408
+60.835 2 IMU_GYRO_RAW 30848 32384 31620
+60.839 2 IMU_MAG_RAW 2384 2286 2183
+60.839 2 BARO_RAW 807 0
+60.848 2 ALIVE 170,165,117,80,189,122,34,108,49,18,185,86,99,79,228,25
+60.895 2 IMU_ACCEL_RAW 40512 39312 37408
+60.895 2 IMU_GYRO_RAW 30800 32432 31732
+60.895 2 IMU_MAG_RAW 2386 2288 2183
+60.943 2 IMU_ACCEL_RAW 40464 39264 37408
+60.947 2 IMU_GYRO_RAW 30740 32372 31712
+60.951 2 IMU_MAG_RAW 2384 2286 2184
+60.951 2 BARO_RAW 808 0
+60.999 2 IMU_ACCEL_RAW 40496 39280 37392
+61.003 2 IMU_GYRO_RAW 30800 32400 31660
+61.007 2 IMU_MAG_RAW 2384 2288 2182
+61.063 2 IMU_ACCEL_RAW 40496 39296 37416
+61.067 2 IMU_GYRO_RAW 30760 32400 31688
+61.071 2 IMU_MAG_RAW 2384 2286 2184
+61.071 2 BARO_RAW 808 0
+61.080 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 405
+61.116 2 IMU_ACCEL_RAW 40480 39296 37408
+61.116 2 IMU_GYRO_RAW 30856 32368 31688
+61.123 2 IMU_MAG_RAW 2382 2287 2183
+61.176 2 IMU_ACCEL_RAW 40464 39296 37408
+61.185 2 IMU_GYRO_RAW 30864 32440 31722
+61.185 2 IMU_MAG_RAW 2380 2285 2183
+61.185 2 BARO_RAW 807 0
+61.231 2 IMU_ACCEL_RAW 40480 39304 37408
+61.235 2 IMU_GYRO_RAW 30832 32424 31684
+61.239 2 IMU_MAG_RAW 2383 2286 2182
+61.299 2 IMU_ACCEL_RAW 40480 39296 37392
+61.300 2 IMU_GYRO_RAW 30848 32432 31744
+61.303 2 IMU_MAG_RAW 2384 2287 2183
+61.307 2 BARO_RAW 807 0
+61.307 2 DL_VALUE 19 300.
+61.351 2 IMU_ACCEL_RAW 40488 39296 37376
+61.355 2 IMU_GYRO_RAW 30728 32416 31712
+61.355 2 IMU_MAG_RAW 2384 2285 2184
+61.411 2 IMU_ACCEL_RAW 40496 39268 37348
+61.415 2 IMU_GYRO_RAW 30920 32416 31665
+61.419 2 IMU_MAG_RAW 2382 2287 2184
+61.419 2 BARO_RAW 807 0
+61.467 2 IMU_ACCEL_RAW 40480 39280 37408
+61.471 2 IMU_GYRO_RAW 30800 32368 31760
+61.475 2 IMU_MAG_RAW 2381 2290 2183
+61.531 2 IMU_ACCEL_RAW 40500 39296 37384
+61.532 2 IMU_GYRO_RAW 30800 32368 31732
+61.535 2 IMU_MAG_RAW 2383 2288 2182
+61.539 2 BARO_RAW 806 0
+61.584 2 IMU_ACCEL_RAW 40468 39296 37400
+61.587 2 IMU_GYRO_RAW 30824 32416 31728
+61.591 2 IMU_MAG_RAW 2382 2288 2184
+61.643 2 IMU_ACCEL_RAW 40480 39296 37408
+61.647 2 IMU_GYRO_RAW 30788 32432 31716
+61.651 2 IMU_MAG_RAW 2383 2287 2182
+61.655 2 BARO_RAW 806 0
+61.703 2 IMU_ACCEL_RAW 40496 39296 37376
+61.707 2 IMU_GYRO_RAW 30800 32360 31748
+61.707 2 IMU_MAG_RAW 2382 2287 2184
+61.745 2 DOWNLINK_STATUS 409 419218 23504 3 1085. 62. 40.72
+61.763 2 IMU_ACCEL_RAW 40488 39272 37376
+61.767 2 IMU_GYRO_RAW 30880 32456 31718
+61.767 2 IMU_MAG_RAW 2381 2287 2183
+61.771 2 BARO_RAW 806 0
+61.819 2 IMU_ACCEL_RAW 40488 39296 37384
+61.823 2 IMU_GYRO_RAW 30784 32402 31764
+61.827 2 IMU_MAG_RAW 2382 2287 2183
+61.882 2 IMU_ACCEL_RAW 40480 39304 37392
+61.884 2 IMU_GYRO_RAW 30848 32408 31668
+61.888 2 IMU_MAG_RAW 2384 2286 2182
+61.889 2 BARO_RAW 806 0
+61.893 2 DL_VALUE 20 -500.
+61.935 2 IMU_ACCEL_RAW 40480 39296 37408
+61.939 2 IMU_GYRO_RAW 30848 32368 31696
+61.943 2 IMU_MAG_RAW 2379 2284 2180
+61.995 2 IMU_ACCEL_RAW 40496 39296 37408
+61.999 2 IMU_GYRO_RAW 30864 32448 31792
+62.003 2 IMU_MAG_RAW 2382 2287 2183
+62.007 2 BARO_RAW 806 0
+62.051 2 IMU_ACCEL_RAW 40480 39296 37376
+62.055 2 IMU_GYRO_RAW 30896 32328 31744
+62.059 2 IMU_MAG_RAW 2382 2289 2183
+62.115 2 IMU_ACCEL_RAW 40484 39272 37360
+62.119 2 IMU_GYRO_RAW 30848 32368 31720
+62.120 2 IMU_MAG_RAW 2382 2287 2183
+62.123 2 BARO_RAW 806 0
+62.168 2 IMU_ACCEL_RAW 40480 39264 37392
+62.177 2 IMU_GYRO_RAW 30792 32368 31696
+62.177 2 IMU_MAG_RAW 2382 2286 2183
+62.236 2 IMU_ACCEL_RAW 40484 39296 37408
+62.236 2 IMU_GYRO_RAW 30864 32436 31704
+62.239 2 IMU_MAG_RAW 2382 2286 2181
+62.243 2 BARO_RAW 806 0
+62.287 2 IMU_ACCEL_RAW 40480 39304 37400
+62.290 2 IMU_GYRO_RAW 30880 32388 31760
+62.292 2 IMU_MAG_RAW 2382 2286 2183
+62.315 2 PONG
+62.347 2 IMU_ACCEL_RAW 40548 39328 37472
+62.351 2 IMU_GYRO_RAW 30816 32388 31624
+62.355 2 IMU_MAG_RAW 2383 2286 2183
+62.355 2 BARO_RAW 807 0
+62.403 2 IMU_ACCEL_RAW 40480 39256 37400
+62.407 2 IMU_GYRO_RAW 30816 32384 31752
+62.411 2 IMU_MAG_RAW 2382 2288 2184
+62.471 2 IMU_ACCEL_RAW 40480 39296 37396
+62.475 2 IMU_GYRO_RAW 30896 32448 31728
+62.478 2 IMU_MAG_RAW 2384 2287 2183
+62.483 2 BARO_RAW 806 0
+62.483 2 DL_VALUE 21 -200.
+62.488 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 406
+62.523 2 IMU_ACCEL_RAW 40528 39298 37424
+62.527 2 IMU_GYRO_RAW 30768 32448 31712
+62.527 2 IMU_MAG_RAW 2382 2286 2182
+62.583 2 IMU_ACCEL_RAW 40464 39248 37412
+62.587 2 IMU_GYRO_RAW 30856 32416 31720
+62.588 2 IMU_MAG_RAW 2382 2287 2182
+62.591 2 BARO_RAW 807 0
+62.639 2 IMU_ACCEL_RAW 40488 39296 37360
+62.643 2 IMU_GYRO_RAW 30880 32360 31680
+62.643 2 IMU_MAG_RAW 2383 2287 2183
+62.704 2 IMU_ACCEL_RAW 40488 39312 37376
+62.705 2 IMU_GYRO_RAW 30856 32352 31634
+62.709 2 IMU_MAG_RAW 2384 2286 2184
+62.709 2 BARO_RAW 806 0
+62.745 2 DOWNLINK_STATUS 410 420311 23568 3 1093. 64. 25.11
+62.755 2 IMU_ACCEL_RAW 40468 39312 37400
+62.759 2 IMU_GYRO_RAW 30848 32448 31724
+62.763 2 IMU_MAG_RAW 2383 2286 2184
+62.819 2 IMU_ACCEL_RAW 40480 39298 37400
+62.823 2 IMU_GYRO_RAW 30852 32344 31760
+62.827 2 IMU_MAG_RAW 2382 2287 2183
+62.827 2 BARO_RAW 806 0
+62.871 2 IMU_ACCEL_RAW 40496 39296 37392
+62.886 2 IMU_GYRO_RAW 30896 32416 31744
+62.886 2 IMU_MAG_RAW 2383 2286 2183
+62.935 2 IMU_ACCEL_RAW 40480 39248 37408
+62.939 2 IMU_GYRO_RAW 30808 32480 31760
+62.943 2 IMU_MAG_RAW 2382 2287 2182
+62.943 2 BARO_RAW 806 0
+62.992 2 IMU_ACCEL_RAW 40488 39240 37352
+62.993 2 IMU_GYRO_RAW 30832 32424 31680
+62.995 2 IMU_MAG_RAW 2382 2287 2183
+63.056 2 IMU_ACCEL_RAW 40480 39296 37392
+63.057 2 IMU_GYRO_RAW 30880 32360 31700
+63.061 2 IMU_MAG_RAW 2381 2285 2182
+63.063 2 BARO_RAW 806 0
+63.067 2 DL_VALUE 22 -100.
+63.107 2 IMU_ACCEL_RAW 40496 39272 37408
+63.111 2 IMU_GYRO_RAW 30804 32400 31732
+63.115 2 IMU_MAG_RAW 2382 2287 2182
+63.167 2 IMU_ACCEL_RAW 40488 39296 37384
+63.171 2 IMU_GYRO_RAW 30784 32354 31700
+63.175 2 IMU_MAG_RAW 2380 2283 2183
+63.179 2 BARO_RAW 807 0
+63.228 2 IMU_ACCEL_RAW 40480 39296 37376
+63.228 2 IMU_GYRO_RAW 30768 32352 31728
+63.232 2 IMU_MAG_RAW 2381 2286 2183
+63.291 2 IMU_ACCEL_RAW 40496 39312 37364
+63.295 2 IMU_GYRO_RAW 30824 32472 31696
+63.296 2 IMU_MAG_RAW 2382 2288 2185
+63.299 2 BARO_RAW 806 0
+63.308 2 ALIVE 170,165,117,80,189,122,34,108,49,18,185,86,99,79,228,25
+63.344 2 IMU_ACCEL_RAW 40512 39312 37384
+63.344 2 IMU_GYRO_RAW 30768 32432 31724
+63.347 2 IMU_MAG_RAW 2384 2288 2184
+63.405 2 IMU_ACCEL_RAW 40480 39300 37360
+63.405 2 IMU_GYRO_RAW 30784 32448 31752
+63.411 2 IMU_MAG_RAW 2382 2286 2183
+63.411 2 BARO_RAW 805 0
+63.459 2 IMU_ACCEL_RAW 40488 39312 37396
+63.463 2 IMU_GYRO_RAW 30864 32416 31656
+63.464 2 IMU_MAG_RAW 2383 2288 2183
+63.524 2 IMU_ACCEL_RAW 40480 39304 37408
+63.524 2 IMU_GYRO_RAW 30816 32400 31684
+63.527 2 IMU_MAG_RAW 2378 2283 2181
+63.531 2 BARO_RAW 806 0
+63.580 2 IMU_ACCEL_RAW 40468 39296 37392
+63.580 2 IMU_GYRO_RAW 30912 32400 31692
+63.583 2 IMU_MAG_RAW 2383 2287 2182
+63.639 2 IMU_ACCEL_RAW 40496 39248 37376
+63.643 2 IMU_GYRO_RAW 30832 32384 31696
+63.647 2 IMU_MAG_RAW 2382 2287 2182
+63.648 2 BARO_RAW 805 0
+63.651 2 DL_VALUE 23 0.
+63.691 2 IMU_ACCEL_RAW 40488 39248 37384
+63.695 2 IMU_GYRO_RAW 30824 32416 31748
+63.699 2 IMU_MAG_RAW 2383 2288 2184
+63.744 2 DOWNLINK_STATUS 411 421386 23630 3 1075. 62. 25.11
+63.760 2 IMU_ACCEL_RAW 40468 39280 37392
+63.760 2 IMU_GYRO_RAW 30852 32436 31808
+63.763 2 IMU_MAG_RAW 2383 2287 2182
+63.767 2 BARO_RAW 805 0
+63.811 2 IMU_ACCEL_RAW 40480 39280 37408
+63.815 2 IMU_GYRO_RAW 30848 32384 31752
+63.816 2 IMU_MAG_RAW 2379 2287 2182
+63.892 2 IMU_ACCEL_RAW 40496 39296 37376
+63.892 2 IMU_GYRO_RAW 30864 32480 31776
+63.892 2 IMU_MAG_RAW 2379 2284 2182
+63.892 2 BARO_RAW 805 0
+63.892 2 BOOZ_STATUS 0 0 2 3 1 0 0 0 0 112 407
+63.927 2 IMU_ACCEL_RAW 40488 39266 37408
+63.931 2 IMU_GYRO_RAW 30896 32404 31840
+63.935 2 IMU_MAG_RAW 2382 2288 2182
+63.992 2 IMU_ACCEL_RAW 40472 39296 37408
+63.992 2 IMU_GYRO_RAW 30752 32384 31688
+63.995 2 IMU_MAG_RAW 2383 2286 2183
+63.999 2 BARO_RAW 806 0
+64.048 2 IMU_ACCEL_RAW 40488 39296 37360
+64.048 2 IMU_GYRO_RAW 30816 32336 31812
+64.056 2 IMU_MAG_RAW 2380 2285 2181
+64.107 2 IMU_ACCEL_RAW 40480 39300 37360
+64.111 2 IMU_GYRO_RAW 30832 32416 31792
+64.115 2 IMU_MAG_RAW 2382 2287 2182
+64.115 2 BARO_RAW 804 0
+64.163 2 IMU_ACCEL_RAW 40464 39296 37392
+64.167 2 IMU_GYRO_RAW 30912 32400 31744
+64.171 2 IMU_MAG_RAW 2380 2285 2181
+64.227 2 IMU_ACCEL_RAW 40496 39296 37384
+64.231 2 IMU_GYRO_RAW 30897 32416 31752
+64.236 2 IMU_MAG_RAW 2382 2288 2182
+64.236 2 BARO_RAW 805 0
+64.236 2 DL_VALUE 24 0.
+64.280 2 IMU_ACCEL_RAW 40480 39296 37392
+64.283 2 IMU_GYRO_RAW 30872 32392 31700
+64.287 2 IMU_MAG_RAW 2383 2288 2182
+64.344 2 IMU_ACCEL_RAW 40480 39272 37380
@@ Diff output truncated at 153600 characters. @@
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- [paparazzi-commits] [6091] Added a lot of logs, changed the way or raw-logging and cleaned test_libeknav_4,
Martin Dieblich <=