Changed logging function to use get routines

groundstation-LateralOnQuad/src/crazyflieGroundStation.cpp

@@ -86,11 +86,6 @@ int main(int argc, char **argv) {
 	sleep(1); //***FOR TESTING PURPOSES*** (REMOVE)
 
 	signal(SIGINT, &ctrlc_handler);
-	// init the tcp server that will transmit data to Eris
-	//TCPServer serv(erisIP, port, buffLen);
-	//serv.createSocket();
-
-	initMulticast();
 
 	// Initialize the crazyflie radios
 	for (int i = 0; i < NUM_RADIOS; i++) {
@@ -344,7 +339,7 @@ void closeoutProgram() {
 		// Turn off the crazyflies
 		if ( crazyflie_info[i].cflieCopter->copterInRange() ) {
 			// Only do this if the Crazyflies are in range and responding
-			crazyflie_info[i].cflieCopter->setThrust(10000);
+			crazyflie_info[i].cflieCopter->setBaseThrust( 0 );
 			crazyflie_info[i].cflieCopter->cycle();
 			cout << "Battery" << i << ": " << crazyflie_info[i].cflieCopter->batteryLevel() << endl;
 			crazyflie_info[i].cflieCopter->cycle();

groundstation-LateralOnQuad/src/logData.cpp

@@ -89,16 +89,16 @@ void logging_WriteData( uint8_t quadNum) {
 	*logfile << endl;
 
 	// Print the time
-	*logfile << quad->cflieCopter->currentTime() << "\t\t";
+	*logfile << cflieCopter->currentTime() << "\t\t";
 
 	// Print the battery
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("pm.vbat");
+	*logfile << "\t\t" << cflieCopter->batteryLevel();
 
 	// Print the setpoints
-	*logfile << "\t\t" << quad->controllerData.xSetpoint;
-	*logfile << "\t\t" << quad->controllerData.ySetpoint;
-	*logfile << "\t\t" << quad->controllerData.zSetpoint;
-	*logfile << "\t\t" << quad->controllerData.yawSetpoint;
+	*logfile << "\t\t" << cflieCopter->getSetpointX();
+	*logfile << "\t\t" << cflieCopter->getSetpointY();
+	*logfile << "\t\t" << cflieCopter->getSetpointZ();
+	*logfile << "\t\t" << cflieCopter->getSetpointYaw();
 	
 	// Print the current position
 	*logfile << "\t\t" << cflieCopter->getCameraX();
@@ -114,38 +114,38 @@ void logging_WriteData( uint8_t quadNum) {
 	*logfile << "\t\t" << cflieCopter->getCameraYaw();
 
 	// Print the sensor data
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("gyro.x");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("gyro.y");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("gyro.z");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("accel.x");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("accel.y");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("accel.z");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("gyro.x");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("gyro.y");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("gyro.z");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("accel.x");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("accel.y");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("accel.z");
 
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("motor.m1");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("motor.m2");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("motor.m3");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("motor.m4");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("motor.m1");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("motor.m2");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("motor.m3");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("motor.m4");
 
 
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("posCtlAlt.outz");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("posCtlAlt.outy");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("posCtlAlt.outz");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("posCtlAlt.outz");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("posCtlAlt.outy");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("posCtlAlt.outz");
 
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("pitchPID.output");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("rollPID.output");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("yawPID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("pitchPID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("rollPID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("yawPID.output");
 
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("pitchRatePID.output");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("rollRatePID.output");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("yawRatePID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("pitchRatePID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("rollRatePID.output");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("yawRatePID.output");
 
-	*logfile << "\t\t" << quad->controllerData.baseThrust;
+	*logfile << "\t\t" << cflieCopter->getBaseThrust();
 	*logfile << "\t\t" << quad->controllerData.resetController;
 
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("mixer.ctr_thrust");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("mixer.ctr_roll");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("mixer.ctr_pitch");
-	*logfile << "\t\t" << quad->cflieCopter->sensorDoubleValue("mixer.ctr_yaw");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("mixer.ctr_thrust");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("mixer.ctr_roll");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("mixer.ctr_pitch");
+	*logfile << "\t\t" << cflieCopter->sensorDoubleValue("mixer.ctr_yaw");
 	
 }