Merge pull request #159 from lkumar93/master

Log additional variables and fix a bug
bitcraze · Nov 9, 2016 · 3694af4 · 3694af4
2 parents 843bd05 + 03cf9ff
commit 3694af4
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Showing 2 changed files with 14 additions and 1 deletion.
diff --git a/src/modules/src/sensfusion6.c b/src/modules/src/sensfusion6.c
@@ -26,6 +26,7 @@
 #include <math.h>
 
 #include "sensfusion6.h"
+#include "log.h"
 #include "param.h"
 
 #define M_PI_F ((float) M_PI)
@@ -306,6 +307,18 @@ static void estimatedGravityDirection(float* gx, float* gy, float* gz)
   *gz = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3;
 }
 
+LOG_GROUP_START(sensorfusion6)
+  LOG_ADD(LOG_FLOAT, qw, &q0)
+  LOG_ADD(LOG_FLOAT, qx, &q1)
+  LOG_ADD(LOG_FLOAT, qy, &q2)
+  LOG_ADD(LOG_FLOAT, qz, &q3)
+  LOG_ADD(LOG_FLOAT, gravityX, &gravX)
+  LOG_ADD(LOG_FLOAT, gravityY, &gravY)
+  LOG_ADD(LOG_FLOAT, gravityZ, &gravZ)
+  LOG_ADD(LOG_FLOAT, accZbase, &baseZacc)
+  LOG_ADD(LOG_UINT8, isInit, &isInit)
+  LOG_ADD(LOG_UINT8, isCalibrated, &isCalibrated)
+LOG_GROUP_STOP(sensorfusion6)
 
 PARAM_GROUP_START(sensorfusion6)
 #ifdef MADWICK_QUATERNION_IMU

diff --git a/src/modules/src/sensors_stock.c b/src/modules/src/sensors_stock.c
@@ -88,4 +88,4 @@ PARAM_ADD(PARAM_UINT32, t, &position.timestamp)
 PARAM_ADD(PARAM_FLOAT, x, &position.x)
 PARAM_ADD(PARAM_FLOAT, y, &position.y)
 PARAM_ADD(PARAM_FLOAT, z, &position.z)
-PARAM_GROUP_STOP(sensorfusion6)
+PARAM_GROUP_STOP(lps)