From 1b5272eb552bb964caf1f156f4b6c376ee28db90 Mon Sep 17 00:00:00 2001 From: realtimepeople Date: Wed, 26 Apr 2023 10:47:09 +0200 Subject: [PATCH 1/5] Added output for DGNSS data if available. --- sw_stm32/Communication/sensor_dump.cpp | 12 ++++++++++++ sw_stm32/lib | 2 +- 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/sw_stm32/Communication/sensor_dump.cpp b/sw_stm32/Communication/sensor_dump.cpp index 3a0c80b..71c1661 100644 --- a/sw_stm32/Communication/sensor_dump.cpp +++ b/sw_stm32/Communication/sensor_dump.cpp @@ -167,6 +167,18 @@ void format_sensor_dump( const output_data_t &output_data, string_buffer_t &NMEA s = integer_to_ascii_2_decimals( output_data.magnetic_disturbance * 10000.0f, s); s=append_string( s, " %\r\n"); + if( output_data.c.sat_fix_type == (SAT_FIX | SAT_HEADING)) + { + float baselength = output_data.c.relPosNED.abs(); + s=append_string( s, "BaseLength/m= "); + s = integer_to_ascii_2_decimals( baselength * 100.0f, s); + s=append_string( s, " SlaveDown = "); + s = integer_to_ascii_2_decimals( output_data.c.relPosNED.e[DOWN] * 100.0f, s); + s=append_string( s, " DGNSS-Hdg= "); + s = integer_to_ascii_1_decimal( 572.96f * output_data.c.relPosHeading, s); + s=append_string( s, "\r\n"); + } + // here we report a fake vario value indicating the maximum magnetic field strength if( magnetic_gound_calibration) { diff --git a/sw_stm32/lib b/sw_stm32/lib index 4f7a94f..508e4f4 160000 --- a/sw_stm32/lib +++ b/sw_stm32/lib @@ -1 +1 @@ -Subproject commit 4f7a94fdaac1fe49d9ba57b10cee837ab9fac012 +Subproject commit 508e4f4adf759cf129e86542fc3aebd3da4fdf48 From a27010a4b7e7933cb46eddf3542369b18cdf04ae Mon Sep 17 00:00:00 2001 From: realtimepeople Date: Wed, 26 Apr 2023 11:36:29 +0200 Subject: [PATCH 2/5] Lib update. --- sw_stm32/lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sw_stm32/lib b/sw_stm32/lib index 508e4f4..923f9f3 160000 --- a/sw_stm32/lib +++ b/sw_stm32/lib @@ -1 +1 @@ -Subproject commit 508e4f4adf759cf129e86542fc3aebd3da4fdf48 +Subproject commit 923f9f39c37382060a7970607f0690a38b4ef3dc From a3dc23362776e654a8b134e1808c6236aade8628 Mon Sep 17 00:00:00 2001 From: realtimepeople Date: Wed, 26 Apr 2023 12:37:49 +0200 Subject: [PATCH 3/5] lib update --- sw_stm32/lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sw_stm32/lib b/sw_stm32/lib index 923f9f3..926b5a0 160000 --- a/sw_stm32/lib +++ b/sw_stm32/lib @@ -1 +1 @@ -Subproject commit 923f9f39c37382060a7970607f0690a38b4ef3dc +Subproject commit 926b5a0499d246f847bfae0f605f4bc34857c551 From b0c5ae649f909d428ac3024218164e653052ed69 Mon Sep 17 00:00:00 2001 From: Maximilian Betz Date: Sat, 29 Apr 2023 09:26:44 +0200 Subject: [PATCH 4/5] updated lib and updated sensor_dump.cpp function names --- sw_stm32/Communication/sensor_dump.cpp | 36 +++++++++++++------------- sw_stm32/lib | 2 +- 2 files changed, 19 insertions(+), 19 deletions(-) diff --git a/sw_stm32/Communication/sensor_dump.cpp b/sw_stm32/Communication/sensor_dump.cpp index 71c1661..171e9bc 100644 --- a/sw_stm32/Communication/sensor_dump.cpp +++ b/sw_stm32/Communication/sensor_dump.cpp @@ -82,17 +82,17 @@ void format_sensor_dump( const output_data_t &output_data, string_buffer_t &NMEA for( unsigned i=0; i<3; ++i) { squaresum += SQR( output_data.m.acc.e[i]); - s = integer_to_ascii_2_decimals( 100.0f * output_data.m.acc.e[i] , s); + s = to_ascii_2_decimals( 100.0f * output_data.m.acc.e[i] , s); *s++ = ' '; } - s = integer_to_ascii_2_decimals( 100.0f * SQRT( squaresum) , s); + s = to_ascii_2_decimals( 100.0f * SQRT( squaresum) , s); s=append_string( s, "\r\n"); s=append_string( s, "gyro "); squaresum=0.0f; for( unsigned i=0; i<3; ++i) { - s = integer_to_ascii_2_decimals( RAD_2_DEGREES_100 * output_data.m.gyro.e[i] , s); + s = to_ascii_2_decimals( RAD_2_DEGREES_100 * output_data.m.gyro.e[i] , s); *s++ = ' '; } s=append_string( s, "\r\n"); @@ -102,14 +102,14 @@ void format_sensor_dump( const output_data_t &output_data, string_buffer_t &NMEA for( unsigned i=0; i<3; ++i) { squaresum += SQR( output_data.m.mag.e[i]); - s = integer_to_ascii_2_decimals( 100.0f * output_data.m.mag.e[i] , s); + s = to_ascii_2_decimals( 100.0f * output_data.m.mag.e[i] , s); *s++ = ' '; } - s = integer_to_ascii_2_decimals( 100.0f * SQRT( squaresum) , s); + s = to_ascii_2_decimals( 100.0f * SQRT( squaresum) , s); s=append_string( s, "\r\n"); s=append_string( s, "pitot / Pa "); - s = integer_to_ascii_2_decimals( 100.0f * output_data.m.pitot_pressure , s); + s = to_ascii_2_decimals( 100.0f * output_data.m.pitot_pressure , s); s=append_string( s, "\r\n"); statistics present_stat = get_sensor_data(); @@ -120,19 +120,19 @@ void format_sensor_dump( const output_data_t &output_data, string_buffer_t &NMEA } s=append_string( s, "pabs / hPa "); - s = integer_to_ascii_2_decimals( stat.mean , s); + s = to_ascii_2_decimals( stat.mean , s); s=append_string( s, "\r\n"); s=append_string( s, "pabs RMS / Pa "); - s = integer_to_ascii_2_decimals( stat.rms * 100.0f , s); + s = to_ascii_2_decimals( stat.rms * 100.0f , s); s=append_string( s, "\r\n"); s=append_string( s, "temp "); - s = integer_to_ascii_2_decimals( 100.0f * output_data.m.static_sensor_temperature , s); + s = to_ascii_2_decimals( 100.0f * output_data.m.static_sensor_temperature , s); s=append_string( s, "\r\n"); s=append_string( s, "Ubatt "); - s = integer_to_ascii_2_decimals( 100.0f * output_data.m.supply_voltage , s); + s = to_ascii_2_decimals( 100.0f * output_data.m.supply_voltage , s); s=append_string( s, "\r\n"); s=append_string( s, "GNSS time "); @@ -146,36 +146,36 @@ void format_sensor_dump( const output_data_t &output_data, string_buffer_t &NMEA s=append_string( s, "NAV Induction: "); for( unsigned i=0; i<3; ++i) { - s = integer_to_ascii_2_decimals( 100.0f * output_data.nav_induction_gnss.e[i], s); + s = to_ascii_2_decimals( 100.0f * output_data.nav_induction_gnss.e[i], s); *s++=' '; } s=append_string( s, "-> "); - s = integer_to_ascii_2_decimals( 100.0f * output_data.nav_induction_gnss.abs(), s); + s = to_ascii_2_decimals( 100.0f * output_data.nav_induction_gnss.abs(), s); s=append_string( s, "\r\n"); float heading = heading_decimator.get_output(); if( heading < 0.0f) heading += 2.0f * M_PI_F; s=append_string( s, "True Heading= "); - s = integer_to_ascii_2_decimals( RAD_2_DEGREES_100 * heading, s); + s = to_ascii_2_decimals( RAD_2_DEGREES_100 * heading, s); s=append_string( s, " Inclination= "); - s = integer_to_ascii_2_decimals( RAD_2_DEGREES_100 * inclination_decimator.get_output(), s); + s = to_ascii_2_decimals( RAD_2_DEGREES_100 * inclination_decimator.get_output(), s); s=append_string( s, " MagAnomaly= "); - s = integer_to_ascii_2_decimals( output_data.magnetic_disturbance * 10000.0f, s); + s = to_ascii_2_decimals( output_data.magnetic_disturbance * 10000.0f, s); s=append_string( s, " %\r\n"); if( output_data.c.sat_fix_type == (SAT_FIX | SAT_HEADING)) { float baselength = output_data.c.relPosNED.abs(); s=append_string( s, "BaseLength/m= "); - s = integer_to_ascii_2_decimals( baselength * 100.0f, s); + s = to_ascii_2_decimals( baselength * 100.0f, s); s=append_string( s, " SlaveDown = "); - s = integer_to_ascii_2_decimals( output_data.c.relPosNED.e[DOWN] * 100.0f, s); + s = to_ascii_2_decimals( output_data.c.relPosNED.e[DOWN] * 100.0f, s); s=append_string( s, " DGNSS-Hdg= "); - s = integer_to_ascii_1_decimal( 572.96f * output_data.c.relPosHeading, s); + s = to_ascii_1_decimal( 572.96f * output_data.c.relPosHeading, s); s=append_string( s, "\r\n"); } diff --git a/sw_stm32/lib b/sw_stm32/lib index 926b5a0..f210139 160000 --- a/sw_stm32/lib +++ b/sw_stm32/lib @@ -1 +1 @@ -Subproject commit 926b5a0499d246f847bfae0f605f4bc34857c551 +Subproject commit f210139063a957573421a6339d3c5fd3715c66ba From fd583f0b2903ece3f122839ea66fec372660a4e5 Mon Sep 17 00:00:00 2001 From: Maximilian Betz Date: Sat, 29 Apr 2023 09:46:29 +0200 Subject: [PATCH 5/5] updated pull request template --- pull_request_template.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pull_request_template.md b/pull_request_template.md index 581f9c3..4d3c6f8 100644 --- a/pull_request_template.md +++ b/pull_request_template.md @@ -7,5 +7,5 @@ - [ ] Flash the ESP and STM Firmware via USB and connect a GNSS antenna - [ ] Test without a SD-Card - [ ] Check that the Bluetooth and CAN works and transmitts data. If possible test with Hardware-version 1.0 and 2.0! -- [ ] Insert a SD-Card with the latest sensor_config.txt file from Configuration_files and an empty file named "enable.logger" Let the sensor run for ~ 30 minutes. Afterwards check that there are only two files: data file yymmdd_hhmmss.f* and a calibration/configuration dump file: yymmdd_hhmmss.EEPROM There shall be no crash-dump files. +- [ ] Insert a SD-Card with the latest sensor_config.txt file from Configuration_files and an logging enabled. Let the sensor run for ~ 30 minutes. Afterwards check that there are only two files: data file yymmdd_hhmmss.f* and a calibration/configuration dump file: yymmdd_hhmmss.EEPROM There shall be no crash-dump files.