kopia lustrzana https://github.com/YohanHadji/R2Home
Update SD datalogging
Mathis et Yohan
rodzic
864c531352
commit
cf50b015d4
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@ -12,8 +12,8 @@
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// ----------------------------------- SETUP PANEL ----------------------------------- //
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#define i_want_to_fly false // Simulated servo movement to test the servo movement :))
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#define buzzer_turn true // Buzzer sounds as function of the turn command
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#define no_init false // Skip init, for testing only purposes
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#define buzzer_turn false // Buzzer sounds as function of the turn command
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#define no_init true // Skip init, for testing only purposes
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#define rc_mode 2 // 0 = only roll, 1 = pitch and roll mixed, 2 = pitch and roll separated
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#define autopilot_mode 1 // Control linear or with "hands up"
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#define drop false // R2Home's version, drop or motorised
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@ -24,6 +24,7 @@
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#define gps_freq 5 // Hz
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#define nav_waypoint true // Doing the waypoint sequence before reaching home?
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#define nav_home false // Should it go home after the waypoint sequence?
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#define sd_writing true // Should it write on the SD card or not?
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#define time_out 300
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@ -199,8 +200,9 @@ int reboot_state = 0;
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// STRING //
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char sdnamebuff[20];
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char mainSD[240];
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char mainTLM[250];
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String mainSD;
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String mainTLM;
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String minSD;
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int time_number = 0;
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boolean flight_rebooted = false;
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@ -545,175 +547,103 @@ void datacmpt() {
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}
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// -------------------------- String -------------------------- //
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String date_year = String(gps.date.year());
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String date_month = String(gps.date.month());
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String date_day = String(gps.date.day());
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char lat_A_text[30];
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char lon_A_text[30];
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char alt_gps_text[30];
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char cog_text[30];
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char speed_text[30];
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char sat_text[30];
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char fix_type_text[10];
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char hdop_text[10];
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char pos_age_text[10];
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char count_text[10];
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char time_text[10];
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char alt_baro_text[30];
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char vspeed_text[30];
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char merged_alt_text[30];
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char baro_weight_text[30];
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char gps_weight_text[30];
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char setPoint_Home_text[30];
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char lat_B_text[30];
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char lon_B_text[30];
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char errHome_text[30];
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char raterror_text[30];
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char a_text[10];
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char b_text[10];
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char c_text[10];
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char d_text[10];
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char e_text[10];
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char f_text[10];
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char g_text[10];
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char deploy_text[10];
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char left_text[10];
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char right_text[10];
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char esc_text[10];
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char gps_ok_text[10];
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char cog_ok_text[10];
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char failSafe_text[10];
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char baro_stab_text[10];
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char gps_stab_text[10];
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char deployed_text[10];
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char flight_mode_text[10];
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char vbatt_text[10];
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char loopmax_text[10];
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char loopmin_text[10];
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char loopmean_text[10];
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char packet_count_text[10];
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char initialised_text[10];
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char wing_opened_text[10];
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char next_cog_text[10];
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char cmd_mult_text[10];
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char mintext[120];
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char gps_text[120];
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char baro_text[120];
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char rc_text[120];
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char servo_text[120];
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char status_text[120];
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char alt_text[120];
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char nav_text[120];
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char date_time[80];
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char date_year[10];
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char date_month[10];
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char date_day[10];
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char time_hour[10];
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char time_minute[10];
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char time_seconde[10];
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dtostrf(gps.date.year(), 2, 0, date_year);
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dtostrf(gps.date.month(), 1, 0, date_month);
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dtostrf(gps.date.day(), 1, 0, date_day);
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dtostrf(gps.time.hour(), 1, 0, time_hour);
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dtostrf(gps.time.minute(), 1, 0, time_minute);
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dtostrf(gps.time.second(), 1, 0, time_seconde);
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String time_hour = String(gps.time.hour());
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String time_minute = String(gps.time.minute());
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String time_second = String(gps.time.second());
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snprintf(date_time, 100, "%s:%s:%s,%s:%s:%s", date_year, date_month, date_day, time_hour, time_minute, time_seconde);
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String date_time = date_year+":"+date_month+":"+date_day+","+time_hour+":"+time_minute+":"+time_second;
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if (flight_rebooted == false) { time_number = ((gps.date.day()*1000000) + (gps.time.hour()*10000) + (gps.time.minute()*100) + gps.time.second()); }
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dtostrf(gps.location.lat(), 10, 10, lat_A_text);
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dtostrf(gps.location.lng(), 10, 10, lon_A_text);
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dtostrf(gps.altitude.meters(), 1, 1, alt_gps_text);
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dtostrf(gps.course.deg(), 1, 0, cog_text);
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dtostrf(gps.speed.mps(), 1, 1, speed_text);
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dtostrf(gps.satellites.value(), 1, 0, sat_text);
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dtostrf(atof(fix_type.value()), 1, 0, fix_type_text);
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dtostrf(gps.hdop.value(), 1, 0, hdop_text);
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String lat_A_text = String(gps.location.lat(), 10);
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String lon_A_text = String(gps.location.lng(), 10);
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String alt_gps_text = String(gps.altitude.meters(), 1);
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String cog_text = String(gps.course.deg());
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String speed_text = String(gps.speed.mps(), 1);
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String sat_text = String(gps.satellites.value());
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String fix_type_text= String(atof(fix_type.value()));
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String hdop_text = String(gps.hdop.value());
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String pos_age_text;
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if (gps.location.age()>10000) { dtostrf(9999, 1, 0, pos_age_text); }
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else { dtostrf(gps.location.age(), 1, 0, pos_age_text); }
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if (gps.location.age()>10000) { pos_age_text = String(999); }
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else { pos_age_text = String(gps.location.age()); }
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snprintf(gps_text, 120, "%s,%s,%s,%s,%s,%s,%s,%s,%s,%s", date_time, lat_A_text, lon_A_text, alt_gps_text, cog_text, speed_text, sat_text, hdop_text, pos_age_text, fix_type_text);
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String gps_text = date_time+","+lat_A_text+","+lon_A_text+","+alt_gps_text+","+cog_text+","+speed_text+","+sat_text+","+hdop_text+","+pos_age_text+","+fix_type_text;
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dtostrf(alt_baro, 1, 3, alt_baro_text);
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dtostrf(vspeed, 1, 2, vspeed_text);
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String alt_baro_text = String(alt_baro, 3);
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String vspeed_text = String(vspeed, 3);
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snprintf(baro_text, 120, "%s,%s", alt_baro_text, vspeed_text);
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String baro_text = alt_baro_text+","+vspeed_text;
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dtostrf(merged_alt, 2, 3, merged_alt_text);
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dtostrf(gps_weight, 2, 2, gps_weight_text);
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dtostrf(baro_weight, 2, 3, baro_weight_text);
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String merged_alt_text = String(merged_alt,3);
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String gps_weight_text = String(gps_weight,2);
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String baro_weight_text = String(baro_weight,3);
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dtostrf(setPoint_Home, 2, 2, setPoint_Home_text);
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dtostrf(errHome, 1, 2, errHome_text);
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dtostrf(raterror, 1, 0, raterror_text);
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dtostrf(cmd_mult, 1, 3, cmd_mult_text);
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String setPoint_Home_text = String(setPoint_Home,2);
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String errHome_text = String(errHome,2);
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String raterror_text = String(raterror);
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String cmd_mult_text = String(cmd_mult,3);
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dtostrf(lat_B, 1, 5, lat_B_text);
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dtostrf(lon_B, 1, 5, lon_B_text);
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String lat_B_text = String(lat_B,5);
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String lon_B_text = String(lon_B,5);
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dtostrf(next_cog, 1, 0, next_cog_text);
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String next_cog_text = String(next_cog);
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snprintf(nav_text, 140, "%s,%s,%s,%s,%s,%s,%s,%s,%s,%s", merged_alt_text, baro_weight_text, gps_weight_text, setPoint_Home_text, errHome_text, raterror_text, next_cog_text, cmd_mult_text, lat_B_text, lon_B_text);
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String nav_text = merged_alt_text+","+baro_weight_text+","+gps_weight_text+","+setPoint_Home_text+","+errHome_text+","+raterror_text+","+next_cog_text+","+cmd_mult_text+","+lat_B_text+","+lon_B_text;
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dtostrf(channels[0], 2, 0, a_text);
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dtostrf(channels[1], 2, 0, b_text);
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dtostrf(channels[2], 2, 0, c_text);
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dtostrf(channels[3], 2, 0, d_text);
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dtostrf(channels[4], 2, 0, e_text);
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dtostrf(channels[5], 2, 0, f_text);
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dtostrf(channels[6], 2, 0, g_text);
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String a_text = String(channels[0]);
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String b_text = String(channels[1]);
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String c_text = String(channels[2]);
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String d_text = String(channels[3]);
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String e_text = String(channels[4]);
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String f_text = String(channels[5]);
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String g_text = String(channels[6]);
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snprintf(rc_text, 120, "%s,%s,%s,%s,%s,%s,%s", a_text, b_text, c_text, d_text, e_text, f_text, g_text);
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String rc_text = a_text+","+b_text+","+c_text+","+d_text+","+e_text+","+f_text+","+g_text;
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String servo_text;
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if (drop == true) {
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dtostrf(servo_left, 2, 0, left_text);
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dtostrf(servo_right, 2, 0, right_text);
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dtostrf(servo_deploy, 2, 0, deploy_text);
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snprintf(servo_text, 40, "%s,%s,%s", left_text, right_text, deploy_text);
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String left_text = String(servo_left);
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String right_text = String(servo_right);
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String deploy_text = String(servo_deploy);
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servo_text = left_text+","+right_text+","+deploy_text;
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}
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else {
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dtostrf(servo_left, 2, 0, left_text);
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dtostrf(servo_right, 2, 0, right_text);
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dtostrf(servo_esc, 2, 0, esc_text);
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snprintf(servo_text, 40, "%s,%s,%s", left_text, right_text, esc_text);
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String left_text = String(servo_left);
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String right_text = String(servo_right);
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String esc_text = String(servo_esc);
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servo_text = left_text+","+right_text+","+esc_text;
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}
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unsigned long long actual_time = (millis()+reboot_time);
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dtostrf(actual_time, 1, 0, time_text);
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dtostrf(flight_mode, 1, 0, flight_mode_text);
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dtostrf(gps_ok, 1, 0, gps_ok_text);
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dtostrf(cog_ok, 1, 0, cog_ok_text);
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dtostrf(failSafe, 1, 0, failSafe_text);
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dtostrf(gps_stab, 1, 0, gps_stab_text);
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dtostrf(baro_stab, 1, 0, baro_stab_text);
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dtostrf(deployed, 1, 0, deployed_text);
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dtostrf(wing_opened, 1, 0, wing_opened_text);
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dtostrf(vbatt, 1, 3, vbatt_text);
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dtostrf(loop_time_min_glob, 1, 0, loopmin_text);
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dtostrf(loop_time_max_glob, 1, 0, loopmax_text);
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dtostrf(loop_time_mean, 1, 0, loopmean_text);
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dtostrf(packet_count, 1, 0, packet_count_text);
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dtostrf(initialised, 1, 0, initialised_text);
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int actual_time = (millis()+reboot_time);
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String time_text = String(actual_time);
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String flight_mode_text = String(flight_mode);
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String gps_ok_text = String(gps_ok) ;
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String cog_ok_text = String(cog_ok);
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String failSafe_text = String(failSafe);
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String gps_stab_text = String(gps_stab);
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String baro_stab_text = String(baro_stab);
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String deployed_text = String(deployed);
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String wing_opened_text = String(wing_opened);
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String vbatt_text = String(vbatt, 3);
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String loopmin_text = String(loop_time_min_glob);
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String loopmax_text = String(loop_time_max_glob);
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String loopmean_text = String(loop_time_mean);
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String packet_count_text = String(packet_count);
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String initialised_text = String(initialised);
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snprintf(status_text, 100, "%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s", time_text, packet_count_text, flight_mode_text, gps_ok_text, cog_ok_text, failSafe_text, gps_stab_text, baro_stab_text, deployed_text, wing_opened_text, initialised_text, vbatt_text, loopmin_text, loopmax_text, loopmean_text);
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String status_text = time_text+","+packet_count_text+","+flight_mode_text+","+gps_ok_text+","+cog_ok_text+","+failSafe_text+","+gps_stab_text+","+baro_stab_text+","+deployed_text+","+wing_opened_text+","+initialised_text+","+vbatt_text+","+loopmin_text+","+loopmax_text+","+loopmean_text;
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mainSD = status_text+","+gps_text+","+baro_text+","+nav_text+","+rc_text+","+servo_text;
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mainTLM = "/*"+status_text+","+gps_text+","+baro_text+","+servo_text+"/*";
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minSD = time_text+","+date_time+","+alt_gps_text+","+lat_A_text+","+lon_A_text+","+lat_B_text+","+lon_B_text;
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snprintf(mainSD, 340, "%s,%s,%s,%s,%s,%s", status_text, gps_text, baro_text, nav_text, rc_text, servo_text);
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snprintf(mainTLM, 250, "/*%s,%s,%s,%s*/", status_text, gps_text, baro_text, servo_text);
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//snprintf(mainTLM, 250, "/*%s,%s,%s*/", status_text, gps_text, nav_text);
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// -------------------------- TLM -------------------------- //
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@ -741,13 +671,13 @@ void datacmpt() {
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if (millis()-tlm>=delayTLM) {
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tlm = millis();
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packet_count = (packet_count +1);
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//Serial5.println(mainTLM);
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Serial5.println(mainTLM);
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Serial.println(mainTLM);
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if (sd_ok == true) {
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dataFile = SD.open(namebuff, FILE_WRITE);
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if (dataFile) { dataFile.println(mainSD); dataFile.close(); }
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else { sd_ok = false; }
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if (sd_ok == true and sd_writing == true) {
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//dataFile = SD.open(namebuff, FILE_WRITE);
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dataFile.println(mainSD);
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//else { sd_ok = false; }
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}
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}
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@ -761,10 +691,8 @@ if (record_home == false) {
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if ((millis()-sd)>=delaySD) {
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sd = millis();
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if (sd_ok == true) {
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dataFile = SD.open(namebuff, FILE_WRITE);
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if (dataFile) { dataFile.println(mainSD); dataFile.close(); }
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else { sd_ok = false; }
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if (sd_ok == true and sd_writing == true) {
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dataFile.println(mainSD);
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}
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@ -778,12 +706,9 @@ else {
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if ((millis()-sd)>=delaySD) {
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sd = millis();
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if (sd_ok == true) {
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dataFile = SD.open(namebuff, FILE_WRITE);
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if (dataFile) { dataFile.println(mainSD); dataFile.close(); }
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else { sd_ok = false; }
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dataFile.println(mainSD);
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}
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}
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}
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@ -798,12 +723,11 @@ void flight_state() {
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if (flight_mode != prev_mode) {
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packet_count = (packet_count +1);
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//Serial5.println(mainTLM);
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Serial5.println(mainTLM);
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Serial.println(mainTLM);
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if (sd_ok == true) {
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dataFile = SD.open(namebuff, FILE_WRITE);
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if (dataFile) { dataFile.println(mainSD); dataFile.close(); }
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if (sd_ok == true and sd_writing == true) {
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dataFile.println(mainSD);
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}
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prev_mode = flight_mode;
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