logging is faster

75978672 · 488_MP-4 · 5cf039a6 · 75978672 · 75978672 · 75978672
Commit 75978672 authored 1 year ago by 488_MP-4
--- a/cflib_groundstation/LogfileHandler.py
+++ b/cflib_groundstation/LogfileHandler.py
@@ -14,9 +14,6 @@ from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
 from queue import Queue
 #import groundstation_socket as gs
-import uCartCommander
-from groundstation_socket import MessageTypeID
-from SetpointHandler import SetpointHandler, FlightMode
 from cflib.crazyflie.log import LogConfig
 import numpy as np

@@ -46,7 +43,8 @@ class LogfileHandler:
        self.logging_configs = []
        self.data_log = None
        self.data_log_name = ""
-        self.header_id = 0
+        self.header_id = -1
+        self.header = []

        self.create_log_data_file()

@@ -80,7 +78,7 @@ class LogfileHandler:
        file = open(filename, "a")
        for group in list(toc.keys()):
            for name in list(toc[group].keys()):
-                file.write(f"{toc[group][name].ident}    {types.get(toc[group][name].ctype)}    {group}    {name}\n")
+                file.write(f"{toc[group][name].ident}\t{types.get(toc[group][name].ctype)}\t{group}\t{name}\n")
                #print(f" Identity: {toc[group][name].ident} Packet Type:{toc[group][name].pytype} CType:{toc[group][name].ctype} Group:{group} Name:{name}\n")

                   
@@ -133,15 +131,15 @@ class LogfileHandler:
        self.data_log.close()

    def add_config_headers(self, config_list: List[LogConfig]):
+        self.header = []
+        self.header_id += 1
        self.data_log = open(self.data_log_name, 'a')
        header = "#" + str(self.header_id) + "\ttime"
        for config in config_list:
-            print(config)
            for variable in config.variables:
-                print("Var: " + variable.name)
                header += "\t" + variable.name
+                self.header.append(variable.name)
        self.data_log.write(header + "\r")
-        self.header_id += 1
        self.data_log.close()


@@ -153,13 +151,13 @@ class LogfileHandler:
    def stop_logging(self):
        raise Exception
    
-    def write_data_points(self, data, timestamp):
+    def write_data_points(self, data):
        self.data_log = open(self.data_log_name, 'a')
-        line = str(timestamp) + " "
-        for group in data:
-            for data in group.values():
-                line += str(data) + "\t"
-        line += "\r"
+        line = str(data[0]['timestamp']) + "\t"
+        for point in data:
+                line += str('%.4f'%(point['data'])) + "\t"
+        line += "\t\r"
+        print(line)
        self.data_log.write(line)
        self.data_log.close()


--- a/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
+++ b/cflib_groundstation/__pycache__/LogfileHandler.cpython-38.pyc
--- a/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
+++ b/cflib_groundstation/__pycache__/SetpointHandler.cpython-38.pyc
--- a/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
+++ b/cflib_groundstation/__pycache__/crazyflie_connection.cpython-38.pyc
--- a/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
+++ b/cflib_groundstation/__pycache__/groundstation_socket.cpython-38.pyc
--- a/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
+++ b/cflib_groundstation/__pycache__/uCartCommander.cpython-38.pyc
--- a/cflib_groundstation/crazyflie_connection.py
+++ b/cflib_groundstation/crazyflie_connection.py
@@ -54,7 +54,9 @@ class CrazyflieConnection:
        self.stop_thread = False
        self.setpoint_handler = SetpointHandler()
        self.logfile_handler = LogfileHandler()
+        self.logging_configs = self.logfile_handler.read_all_active_blocks()
        self.timestamp = 0
+        self.logging_queue = Queue()

        # self.timer = QTimer()
        # self.timer.timeout.connect(self.update_plot)
@@ -256,7 +258,7 @@ class CrazyflieConnection:
        if id == 0: # logdata?
            filename = self.logfile_handler.data_log_name
            data = bytearray()
-            data += bytes(filename, 'utf-8')
+            data += bytes("_" + filename, 'utf-8')
            responsedata = {
            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
            "msg_id": command['msg_id'],
@@ -268,7 +270,7 @@ class CrazyflieConnection:
            params = self.get_param_toc()
            filename = self.logfile_handler.CopyTocToFile(params, True)
            data = bytearray()
-            data += bytes(filename, 'utf-8')
+            data += bytes("_" + filename, 'utf-8')
            responsedata = {
            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
            "msg_id": command['msg_id'],
@@ -280,7 +282,23 @@ class CrazyflieConnection:
            logs = self.get_logging_toc()
            filename = self.logfile_handler.CopyTocToFile(logs, False)
            data = bytearray()
-            data += bytes(filename, 'utf-8')
+            data += bytes("_" + filename, 'utf-8')
+            responsedata = {
+            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
+            "msg_id": command['msg_id'],
+            "data_len": len(data),
+            "data": data
+            }
+            outputQueue.put(responsedata)
+        elif id == 3: 
+            header = "_" + str(self.logfile_handler.header_id) + ":,time,"
+            for config in self.logging_configs:
+                for variable in config.variables:
+                    header += variable.name + ","
+            print(header)
+            data = bytearray()
+            data += bytes(header, 'utf-8')
+
            responsedata = {
            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
            "msg_id": command['msg_id'],
@@ -288,10 +306,16 @@ class CrazyflieConnection:
            "data": data
            }
            outputQueue.put(responsedata)
-        elif id == 3: # active header of the data log
-            raise Exception # Not implemented
        elif id == 4: # state of test stand connection
-            raise Exception # Not implemented
+            data = bytearray()
+            data += bytes("_false", 'utf-8')
+            responsedata = {
+            "msg_type": (MessageTypeID.RESPLOGFILE_ID),
+            "msg_id": command['msg_id'],
+            "data_len": len(data),
+            "data": data
+            }
+            outputQueue.put(responsedata)
        else :
            raise Exception
        
@@ -304,8 +328,16 @@ class CrazyflieConnection:
        elif id == 1:
            self.delete_log_blocks()
            self.logging_configs = self.logfile_handler.read_all_active_blocks()
+            for config in self.logging_configs:
+                config.data_received_cb.add_callback(
+                self.logging_callback)
+                self.scf.cf.log.add_config(config)
        elif id == 2:
            self.logging_configs = self.logfile_handler.read_all_active_blocks()
+            for config in self.logging_configs:
+                config.data_received_cb.add_callback(
+                self.logging_callback)
+                self.scf.cf.log.add_config(config)
        elif id == 3:
            block_id = command['data'][1]
            self.logging_configs.remove(self.logging_configs[block_id])
@@ -314,9 +346,11 @@ class CrazyflieConnection:
        elif id == 5:
            self.disable_logging()
        elif id == 8:
+            self.enable_logging()
            self.start_logging()
        elif id == 9:
            self.stop_logging()
+            self.disable_logging()
            
    def simple_log(self, scf, logconf):
        print("Logging...")
@@ -343,9 +377,10 @@ class CrazyflieConnection:
            self.logging_configs[i].stop()
    
    def delete_log_blocks(self):
-        for block in self.logging_configs:
-            block.delete()
-            self.logging_configs.remove(block)
+        self.logging_configs = []
+        #for block in self.logging_configs:
+            #block.delete()
+            #self.logging_configs.remove(block)
    
    def start_logging(self):
        self.stop_thread = False
@@ -357,13 +392,23 @@ class CrazyflieConnection:

    def continous_log(self):
        while not self.stop_thread:
-            data = []
-            for config in self.logging_configs:
-                data.append(self.simple_log(self.scf, config))
-            print(data)
-            self.logfile_handler.write_data_points(data, self.timestamp / 1000)
-            sleep(0.3)
-
-
-
+            if self.logging_queue.qsize() > 3:
+                data = []
+                for i in range(0, 12):
+                    point = self.logging_queue.get()
+                    print(point)
+                    data.append(point)
+                self.logfile_handler.write_data_points(data)
+                sleep(0.3)
+
+
+    def logging_callback(self, _timestamp, data, _logconf):
+        """ Whenever data comes in from the logging, it is sent here,
+        which routes it into our specific format for the logging queue. """
+
+        timestamp1 = time.time() - self.start_time
+        for key in data.keys():
+            value_pair = {'timestamp': timestamp1, 'data': data[key],
+                          'signal': key}
+            self.logging_queue.put(value_pair)

--- a/cflib_groundstation/logs/cflie1_2023_11_16_20:49:49.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:49:49.txt
+#Crazyflie
#Controller:Unknown
#0	time	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_20:50:47.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:50:47.txt
+#Crazyflie
#Controller:Unknown
#0	time	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_20:54:24.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_20:54:24.txt
+#Crazyflie
#Controller:Unknown
#0	time	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
245.924 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3370	
246.446 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3355	
246.986 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3401	
247.508 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3401	
248.076 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3323	
248.589 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3356	
249.115 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3459	
249.625 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3500	
250.083 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3493	
250.63 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3567	
251.127 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3643	
251.7 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3687	
252.193 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3781	
252.66 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3826	
253.148 0.0000	0.0000	0.0000	0.0000	0.0000	-172.3957	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:01:36.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:01:36.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:02:21.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:02:21.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
722.252 0.7951	-1.0905	-175.0134	0.0653	0.0367	-0.1235	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0169	
723.317 0.7947	-1.0747	-175.0142	0.2183	-0.0203	-0.1162	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0136	
724.37 0.7895	-1.0905	-175.0148	0.1074	-0.0298	0.0094	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0219	
725.42 0.7861	-1.0942	-175.0163	0.1695	0.6741	0.0468	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0200	
726.575 0.7856	-1.0849	-175.0266	-0.1172	0.0322	0.1098	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0358	
727.646 0.8028	-1.0750	-175.0343	0.2163	0.0274	0.0566	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0394	
728.671 0.8079	-1.0657	-175.0378	0.0922	0.0732	0.0089	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0383	
729.73 0.7987	-1.0619	-175.0321	-0.0510	0.2421	-0.0522	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0326	
730.881 0.8023	-1.0699	-175.0272	-0.1703	-0.0894	0.0300	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0353	
732.062 0.8013	-1.0790	-175.0408	0.3246	0.7222	0.1699	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0479	
734.182 0.7968	-1.0492	-175.0430	0.1299	-0.4678	0.0199	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0563	
735.366 0.7995	-1.0639	-175.0619	-0.0771	0.2842	-0.1257	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0663	
736.511 0.7885	-1.0845	-175.0659	0.3725	0.0991	0.0381	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0699	
738.303 0.8091	-1.0916	-175.0871	-0.3061	-0.3670	0.1308	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0954	
739.43 0.7976	-1.0867	-175.0964	0.2570	-0.1453	-0.0687	0.0000	0.0000	0.0000	0.0000	0.0000	-175.0981	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:04:46.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:04:46.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
864.51 0.7909	-1.0503	-176.1295	0.2110	0.5171	-0.0595	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1306	
865.553 0.7807	-1.0638	-176.1291	0.2454	0.7006	0.0562	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1370	
867.349 0.7973	-1.0603	-176.1422	-0.4095	-0.1298	-0.1781	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1479	
868.364 0.8035	-1.0572	-176.1476	-0.2163	0.6298	-0.0252	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1518	
869.352 0.8022	-1.0435	-176.1571	0.2475	0.3301	0.0043	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1626	
870.345 0.8070	-1.0589	-176.1531	-0.1862	-0.5043	0.0409	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1617	
871.366 0.8078	-1.0869	-176.1615	0.4857	0.1622	-0.1997	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1663	
872.394 0.8102	-1.0790	-176.1753	0.1788	-0.6042	0.0344	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1772	
873.409 0.8100	-1.0720	-176.1794	0.4696	-0.0090	-0.2934	0.0000	0.0000	0.0000	0.0000	0.0000	-176.1880	
874.42 0.8180	-1.0752	-176.1954	-0.3525	-0.5107	-0.0475	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2001	
875.43 0.8179	-1.0913	-176.2081	0.3733	-0.0236	0.0203	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2187	
876.475 0.8052	-1.0914	-176.2279	-0.0478	-0.3674	-0.1292	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2261	
877.515 0.8131	-1.0880	-176.2327	0.3236	-0.2320	0.2073	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2418	
878.52 0.8179	-1.0822	-176.2512	0.3645	-0.1031	0.1479	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2596	
879.532 0.8008	-1.0709	-176.2663	-0.2135	-0.0463	-0.0118	0.0000	0.0000	0.0000	0.0000	0.0000	-176.2653	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:12:52.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:12:52.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
1352.518 0.1553	-1.0695	150.7455	0.1148	0.3395	0.2723	0.0000	0.0000	0.0000	0.0000	0.0000	150.7423	
1353.558 0.1679	-1.0683	150.7479	-0.3594	-0.4034	0.1107	0.0000	0.0000	0.0000	0.0000	0.0000	150.7416	
1354.613 0.1756	-1.0610	150.7354	-0.1518	-0.4791	-0.0707	0.0000	0.0000	0.0000	0.0000	0.0000	150.7309	
1355.627 0.1620	-1.0692	150.7273	0.2021	0.0772	-0.1906	0.0000	0.0000	0.0000	0.0000	0.0000	150.7213	
1356.637 0.1585	-1.0908	150.7200	0.3551	-0.1480	0.0394	0.0000	0.0000	0.0000	0.0000	0.0000	150.7250	
1357.655 0.1624	-1.0808	150.7251	0.1299	-0.1189	0.0102	0.0000	0.0000	0.0000	0.0000	0.0000	150.7227	
1358.666 0.1554	-1.0735	150.7281	-0.6816	-0.3363	-0.1377	0.0000	0.0000	0.0000	0.0000	0.0000	150.7171	
1359.67 0.1609	-1.0763	150.7233	0.2794	-0.2513	-0.0011	0.0000	0.0000	0.0000	0.0000	0.0000	150.7180	
1360.696 0.1601	-1.0809	150.7141	0.0460	-0.1432	-0.0002	0.0000	0.0000	0.0000	0.0000	0.0000	150.7156	
1361.709 0.1563	-1.0844	150.7104	-0.0248	-0.6822	-0.1965	0.0000	0.0000	0.0000	0.0000	0.0000	150.6958	
1362.742 0.1507	-1.0949	150.7022	-0.0869	-0.0047	0.0322	0.0000	0.0000	0.0000	0.0000	0.0000	150.7002	
1363.787 0.1593	-1.0907	150.7008	0.2525	0.5781	0.0994	0.0000	0.0000	0.0000	0.0000	0.0000	150.6931	
1364.814 0.1655	-1.0845	150.6861	-0.4971	-0.4051	-0.0690	0.0000	0.0000	0.0000	0.0000	0.0000	150.6882	
1365.875 0.1535	-1.0837	150.6866	-0.4151	-0.1152	-0.0895	0.0000	0.0000	0.0000	0.0000	0.0000	150.6823	
1366.921 0.1601	-1.0919	150.6716	0.0885	-0.3331	-0.1363	0.0000	0.0000	0.0000	0.0000	0.0000	150.6698	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:22:22.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:22:22.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
0.0 
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:23:14.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:23:14.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
#1	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
1993.885 0.1622	-1.0439	146.6253	-0.1674	-0.6391	0.1232	0.0000	0.0000	0.0000	0.0000	0.0000	146.6284	
1994.948 0.1517	-1.0716	146.6234	-0.1754	-0.1370	-0.1172	0.0000	0.0000	0.0000	0.0000	0.0000	146.6232	
1996.1 0.1574	-1.0600	146.6164	0.1405	0.3992	0.0251	0.0000	0.0000	0.0000	0.0000	0.0000	146.6025	
1997.183 0.1560	-1.0487	146.5997	-0.1389	-0.4073	-0.0859	0.0000	0.0000	0.0000	0.0000	0.0000	146.5916	
1998.343 0.1575	-1.0618	146.5737	0.4266	0.0710	0.0190	0.0000	0.0000	0.0000	0.0000	0.0000	146.5618	
1999.486 0.1498	-1.0766	146.5718	0.0020	0.2760	0.1005	0.0000	0.0000	0.0000	0.0000	0.0000	146.5703	
2000.585 0.1476	-1.0622	146.5708	0.1345	-0.1365	0.0060	0.0000	0.0000	0.0000	0.0000	0.0000	146.5614	
2001.753 0.1520	-1.0701	146.5597	0.0793	-0.1466	0.0077	0.0000	0.0000	0.0000	0.0000	0.0000	146.5642	
2002.815 0.1546	-1.0551	146.5523	0.0091	0.1527	0.2183	0.0000	0.0000	0.0000	0.0000	0.0000	146.5482	
2003.904 0.1323	-1.0645	146.5410	0.2591	0.7344	-0.3830	0.0000	0.0000	0.0000	0.0000	0.0000	146.5338	
2005.007 0.1411	-1.0592	146.5329	-0.0371	0.0082	-0.0274	0.0000	0.0000	0.0000	0.0000	0.0000	146.5374	
2006.077 0.1403	-1.0651	146.5344	0.0754	-0.4818	-0.0541	0.0000	0.0000	0.0000	0.0000	0.0000	146.5402	
2007.199 0.1323	-1.0584	146.5422	0.5215	0.1642	0.1848	0.0000	0.0000	0.0000	0.0000	0.0000	146.5340	
2008.328 0.1366	-1.0395	146.5310	-0.4499	-0.3993	0.1697	0.0000	0.0000	0.0000	0.0000	0.0000	146.5289	
2010.217 0.1310	-1.0700	146.5222	0.1993	0.1093	-0.2071	0.0000	0.0000	0.0000	0.0000	0.0000	146.5204	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:26:47.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:26:47.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
2186.542 0.1560	-1.0192	145.2759	-0.1982	-0.0278	-0.0912	0.0000	0.0000	0.0000	0.0000	0.0000	145.2764	
2187.62 0.1586	-1.0356	145.2699	-0.0784	-0.0241	-0.1000	0.0000	0.0000	0.0000	0.0000	0.0000	145.2681	
2188.763 0.1596	-1.0687	145.2687	0.0426	0.5392	-0.1501	0.0000	0.0000	0.0000	0.0000	0.0000	145.2775	
2189.927 0.1593	-1.0853	145.2694	0.7560	0.5525	-0.2665	0.0000	0.0000	0.0000	0.0000	0.0000	145.2648	
2191.084 0.1437	-1.0611	145.2616	0.2185	-0.1831	0.0062	0.0000	0.0000	0.0000	0.0000	0.0000	145.2509	
2192.194 0.1570	-1.0449	145.2471	-0.0376	-0.3348	-0.0707	0.0000	0.0000	0.0000	0.0000	0.0000	145.2318	
2193.342 0.1507	-1.0488	145.2297	-0.1170	-0.1955	-0.1030	0.0000	0.0000	0.0000	0.0000	0.0000	145.2234	
2194.473 0.1493	-1.0439	145.2177	-0.4029	-0.1653	0.0022	0.0000	0.0000	0.0000	0.0000	0.0000	145.2195	
2195.627 0.1479	-1.0393	145.2189	0.2619	0.0379	0.0099	0.0000	0.0000	0.0000	0.0000	0.0000	145.2257	
2196.778 0.1753	-1.0562	145.2162	-0.5332	0.0253	-0.0341	0.0000	0.0000	0.0000	0.0000	0.0000	145.2057	
2197.969 0.1766	-1.0557	145.2127	0.4809	0.2250	0.0231	0.0000	0.0000	0.0000	0.0000	0.0000	145.2081	
2199.101 0.1704	-1.0754	145.2071	0.0964	-0.1351	-0.0725	0.0000	0.0000	0.0000	0.0000	0.0000	145.2099	
2200.262 0.1515	-1.0863	145.2109	-0.0382	-0.0988	0.1308	0.0000	0.0000	0.0000	0.0000	0.0000	145.2128	
2201.433 0.1618	-1.0661	145.2080	0.5413	-0.2432	-0.2767	0.0000	0.0000	0.0000	0.0000	0.0000	145.2049	
2202.669 0.1588	-1.0367	145.1959	-0.5626	-0.3292	0.1882	0.0000	0.0000	0.0000	0.0000	0.0000	145.1853	
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:31:17.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:31:17.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:32:26.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:32:26.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file
--- a/cflib_groundstation/logs/cflie1_2023_11_16_21:33:37.txt
+++ b/cflib_groundstation/logs/cflie1_2023_11_16_21:33:37.txt
+#Crazyflie
#Controller:Unknown
#0	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
#1	time	stateEstimate.roll	stateEstimate.pitch	stateEstimate.yaw	ctrlStdnt.r_roll	ctrlStdnt.r_pitch	ctrlStdnt.r_yaw	ctrlStdnt.rollRate	ctrlStdnt.pitchRate	ctrlStdnt.yawRate	ctrlStdnt.roll	ctrlStdnt.pitch	ctrlStdnt.yaw
\ No newline at end of file