From acd239e0bf629357ed16108408398499d623e226 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <niccolo.caruso@skywarder.eu>
Date: Thu, 6 Mar 2025 15:33:12 +0100
Subject: [PATCH] [ARP] Fixes on the logdecoder for the logAnglesData struct
---
src/shared/logger/LogTypes.h | 2 ++
src/shared/sensors/logAnglesData.h | 3 +++
src/tests/sensors/logAnglesData.h | 1 +
src/tests/sensors/test-vn300_gyro_to_angles.cpp | 10 ++++++----
4 files changed, 12 insertions(+), 4 deletions(-)
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index 64d7423c7..85c4c1d5e 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -80,6 +80,7 @@
#include <sensors/analog/pressure/nxp/MPXH6400AData.h>
#include <sensors/analog/pressure/nxp/MPXHZ6130AData.h>
#include <sensors/logAnglesData.h>
+#include <test/AnnoyingScalar.h>
#include <fstream>
#include <iostream>
@@ -184,6 +185,7 @@ void registerTypes(Deserializer& ds)
ds.registerType<FollowerState>();
ds.registerType<LogAntennasCoordinates>();
ds.registerType<LogRocketCoordinates>();
+ ds.registerType<LogAngles>();
}
} // namespace LogTypes
diff --git a/src/shared/sensors/logAnglesData.h b/src/shared/sensors/logAnglesData.h
index 5632f109e..40247bf96 100644
--- a/src/shared/sensors/logAnglesData.h
+++ b/src/shared/sensors/logAnglesData.h
@@ -1,5 +1,7 @@
#include <iostream>
+#include <cmath>
+namespace Boardcore{
struct LogAngles
{
float roll, pitch, yaw;
@@ -24,3 +26,4 @@ struct LogAngles
os << roll << "," << pitch << "," << yaw << "\n";
}
};
+}
\ No newline at end of file
diff --git a/src/tests/sensors/logAnglesData.h b/src/tests/sensors/logAnglesData.h
index 90667e0b7..40247bf96 100644
--- a/src/tests/sensors/logAnglesData.h
+++ b/src/tests/sensors/logAnglesData.h
@@ -1,4 +1,5 @@
#include <iostream>
+#include <cmath>
namespace Boardcore{
struct LogAngles
diff --git a/src/tests/sensors/test-vn300_gyro_to_angles.cpp b/src/tests/sensors/test-vn300_gyro_to_angles.cpp
index b06221150..f8f2e96a2 100644
--- a/src/tests/sensors/test-vn300_gyro_to_angles.cpp
+++ b/src/tests/sensors/test-vn300_gyro_to_angles.cpp
@@ -21,7 +21,7 @@
*/
#include <drivers/timer/TimestampTimer.h>
-#include <logAnglesData.h>
+#include <sensors/logAnglesData.h>
#include <logger/Logger.h>
#include <sensors/Vectornav/VN300/VN300.h>
@@ -50,11 +50,13 @@ void computeEulerAngles(const Vector3d& gyro, double dt, Vector3d& angles)
cos(ass(1)); // rotation matrix angular_rate --> body_rate
Vector3d angular_rate = G.transpose() * body_rate;
-
+ printf("angles -->%f,%f,%f\n",angles(0),angles(1),angles(2));
+ printf("angular_rate -->%f,%f,%f\n",angular_rate(0),angular_rate(1),angular_rate(2));
+ printf("dt: %f", (dt / 1000000));
Vector3d new_angles =
- angles + angular_rate * (dt / 10000000); // integration
+ angles + angular_rate * (dt / 1000000); // integration
angles = new_angles;
-
+ printf("new_angles -->%f,%f,%f\n",angles(0),angles(1),angles(2));
// rad --> deg
}
--
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