//------------------------------------ // BOne_Output.ino // This file is part of BOne firmware // // Project home page : http://gyropode.vilain.de // date : 30.09.2014 // //------------------------------------- // // This firmware is free software; you can redistribute it and/or // modify it under the terms of the GNU Lesser General Public // License as published by the Free Software Foundation; either // version 2.1 of the License, or (at your option) any later version. // // This firmware is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // Lesser General Public License for more details. // //------------------------------------- // Printing to console takes lots of time, so if you print too many things // you could have timing problems, Fifo overflow errors and variable frecuency. void output_Update(){ #ifdef OUTPUT_GPS Serial.println(""); Serial.print("Date : \t");Serial.println(GPS_date); Serial.print("Time : \t");Serial.println(GPS_time); Serial.println("------------------------"); Serial.print("latitude : \t");Serial.print(GPS_latitude, 6);Serial.println("\t degres"); Serial.print("Longitude : \t");Serial.print(GPS_longitude, 6);Serial.println("\t degres"); Serial.println("------------------------"); Serial.print("Satellites : \t");Serial.println(GPS_satellites); Serial.print("Precision : \t");Serial.println(GPS_hdop); Serial.println("------------------------"); Serial.print("Course : \t");Serial.print(GPS_course, 3);Serial.print("\t degres - ");Serial.println(GPS_course_cardinal); Serial.print("Speed : \t");Serial.print(GPS_speed, 3);Serial.println("\t kmpH"); Serial.print("Altitude : \t");Serial.print(GPS_altitude, 3);Serial.println("\t meters"); Serial.println("------------------------"); Serial.print("distance to parzelle3 : \t");Serial.print(GPS_distance_to_parzelle3);Serial.println("\t km"); Serial.print("course to parzelle3 : \t");Serial.print(GPS_course_to_parzelle3);Serial.print("\t degres - ");Serial.println(GPS_course_to_parzelle3_cardinal); Serial.println("------------------------"); #endif #ifdef OUTPUT_MPU Serial.print("yaw : \t");Serial.print(yaw, 3);Serial.println("\t degres"); Serial.print("pitch : \t");Serial.print(pitch, 3);Serial.println("\t degres"); Serial.print("roll : \t");Serial.print(roll, 3);Serial.println("\t degres"); Serial.println("------------------------"); #endif #ifdef OUTPUT_MAG_1 Serial.print("mx : \t");Serial.println(mx); Serial.print("my : \t");Serial.println(my); Serial.print("mz : \t");Serial.println(mz); Serial.println("------------------------"); #endif #ifdef OUTPUT_HEADING Serial.print("heading : \t");Serial.print(heading * 180/M_PI);Serial.println("\t degres"); Serial.print("mag heading : \t");Serial.print(magHeading);Serial.println("\t degres"); Serial.print("DMP frequency : \t");Serial.println(frec1); Serial.println("------------------------"); #endif #ifdef OUTPUT_TEMPERATURE Serial.print("temperature : \t");Serial.print(temperature, 3);Serial.println("\t degres Celsius"); Serial.println("------------------------"); #endif #ifdef OUTPUT_BARO Serial.print("pressure : \t");Serial.print(pressure, 3);Serial.println("\t mbar"); //Serial.print("Altitude : \t");Serial.print(altitude);Serial.println("\t m"); Serial.println("------------------------"); #endif #ifdef OUTPUT_STEERING //Serial.print("steeringvalue : \t");Serial.println(steeringValue); Serial.print("steeringRight : \t");Serial.println(steeringRight); Serial.print("steeringLeft : \t");Serial.println(steeringLeft); Serial.println("------------------------"); #endif #ifdef OUTPUT_M Serial.print("error sum : \t");Serial.println(errorSum); Serial.print("pTerm : \t");Serial.println(pTerm); Serial.print("iTerm : \t");Serial.println(iTerm); Serial.print("dTerm : \t");Serial.println(dTerm); Serial.print("speed : \t");Serial.println(speed); Serial.print("Kp : \t");Serial.println(Kp); Serial.print("Ki : \t");Serial.println(Ki); Serial.print("Kd : \t");Serial.println(Kd); Serial.print("K : \t");Serial.println(K); Serial.println("------------------------"); #endif #ifdef OUTPUT_M1 Serial.print("motor Speed M1: \t");Serial.println(motorspeedM1); Serial.print("speed motor M1: \t");Serial.println(speedmotorM1); Serial.println("------------------------"); #endif #ifdef OUTPUT_M2 Serial.print("motor Speed M2: \t");Serial.println(motorspeedM2); Serial.print("speed motor M2: \t");Serial.println(speedmotorM2); Serial.println("------------------------"); #endif #ifdef OUTPUT_BATTERIE_1 Serial.print("current value : \t");Serial.print(current_Value);Serial.println(" Amp."); Serial.print("Batt1 voltage : \t");Serial.print(Batt1_voltage);Serial.println(" Volts"); Serial.print("Batt2 voltage : \t");Serial.print(Batt2_voltage);Serial.println(" Volts"); Serial.println("------------------------"); #endif #ifdef OUTPUT_TFT_1 Serial.print("px : \t");Serial.println(p.x); Serial.print("py : \t");Serial.println(p.y); Serial.print("pz : \t");Serial.println(p.z); Serial.println("------------------------"); #endif #ifdef OUTPUT_SD Serial.print("card type : \t");Serial.println(SD_card_type); Serial.print("SD header : \t");Serial.println(SD_header); Serial.print("SD datastring : \t");Serial.println(SD_dataString); Serial.print("gps logger : \t");Serial.println(SD_logger_start); Serial.println("--------------------------"); #endif #ifdef OUTPUT_DATETIME Serial.print("Summer Time : \t");Serial.print("Sunday ");Serial.print(beginDSTDate);Serial.print(" March ");Serial.println(GPS_year); Serial.print("Winter Time : \t");Serial.print("Sunday ");Serial.print(endDSTDate);Serial.print(" October ");Serial.println(GPS_year); Serial.println("------------------------"); Serial.print("last loop useful time : \t");Serial.print(lastLoopUsefulTime);Serial.println("\t ms"); Serial.print("last loop time : \t");Serial.print(lastLoopTime);Serial.println("\t ms"); Serial.println("--------------------------"); #endif #ifdef OUTPUT_BLUETOOTH_1 Serial.print("BT command : \t");Serial.println(bt_recvChar); Serial.println("------------------------"); #endif } //-------------------------------------