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Commander: Reduce mag output

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Lorenz Meier
2016-04-09 11:53:44 -07:00
parent 275fe8ee2d
commit d9b32221e7
1 changed files with 31 additions and 29 deletions
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60
src/modules/commander/mag_calibration.cpp
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@@ -584,44 +584,46 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t (&devi
// Print uncalibrated data points // Print uncalibrated data points
if (result == calibrate_return_ok) { if (result == calibrate_return_ok) {
printf("RAW DATA:\n--------------------\n"); // DO NOT REMOVE! Critical validation data!
for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
if (worker_data.calibration_counter_total[cur_mag] == 0) { // printf("RAW DATA:\n--------------------\n");
continue; // for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
}
printf("RAW: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]); // if (worker_data.calibration_counter_total[cur_mag] == 0) {
// continue;
// }
for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) { // printf("RAW: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
float x = worker_data.x[cur_mag][i];
float y = worker_data.y[cur_mag][i];
float z = worker_data.z[cur_mag][i];
printf("%8.4f, %8.4f, %8.4f\n", (double)x, (double)y, (double)z);
}
printf(">>>>>>>\n"); // for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {
} // float x = worker_data.x[cur_mag][i];
// float y = worker_data.y[cur_mag][i];
// float z = worker_data.z[cur_mag][i];
// printf("%8.4f, %8.4f, %8.4f\n", (double)x, (double)y, (double)z);
// }
printf("CALIBRATED DATA:\n--------------------\n"); // printf(">>>>>>>\n");
for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) { // }
if (worker_data.calibration_counter_total[cur_mag] == 0) { // printf("CALIBRATED DATA:\n--------------------\n");
continue; // for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
}
printf("Calibrated: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]); // if (worker_data.calibration_counter_total[cur_mag] == 0) {
// continue;
// }
for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) { // printf("Calibrated: MAG %u with %u samples:\n", (unsigned)cur_mag, (unsigned)worker_data.calibration_counter_total[cur_mag]);
float x = worker_data.x[cur_mag][i] - sphere_x[cur_mag];
float y = worker_data.y[cur_mag][i] - sphere_y[cur_mag];
float z = worker_data.z[cur_mag][i] - sphere_z[cur_mag];
printf("%8.4f, %8.4f, %8.4f\n", (double)x, (double)y, (double)z);
}
printf("SPHERE RADIUS: %8.4f\n", (double)sphere_radius[cur_mag]); // for (size_t i = 0; i < worker_data.calibration_counter_total[cur_mag]; i++) {
printf(">>>>>>>\n"); // float x = worker_data.x[cur_mag][i] - sphere_x[cur_mag];
} // float y = worker_data.y[cur_mag][i] - sphere_y[cur_mag];
// float z = worker_data.z[cur_mag][i] - sphere_z[cur_mag];
// printf("%8.4f, %8.4f, %8.4f\n", (double)x, (double)y, (double)z);
// }
// printf("SPHERE RADIUS: %8.4f\n", (double)sphere_radius[cur_mag]);
// printf(">>>>>>>\n");
// }
} }
// Data points are no longer needed // Data points are no longer needed