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增加轮速输出

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liumin
2025-11-07 10:31:57 +08:00
parent 84221794b6
commit 2f580d0d3a
11 changed files with 121 additions and 98 deletions
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45
ETH/UdpServer/app/app_data_processing.c
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@@ -353,13 +353,13 @@ void rs232Process(void)
navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
//<2F><><EFBFBD>ٶ<EFBFBD>
float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f/9.8;//<2F>޸ĵ<DEB8>λΪg
float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;//<2F>޸ĵ<DEB8>λΪg
navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
//gps<70><73>Ϣ
@@ -432,9 +432,6 @@ void imuInput(void *signal_id)
}
publishMessage(&navigation_output1, 1);
}
break;
@@ -482,32 +479,30 @@ void iim6234Init(void *signal_id)
void nmeaPrintf(void *signal_id)
{
// printf("[THS] Heading:%.1f<EFBFBD><EFBFBD> Mode:%c\n",
// ths_data1.heading, ths_data1.mode);
// printf("[VTG] Course:%.1f<EFBFBD><EFBFBD> Speed:%.1fkm/h\n",
// vtg_data1.course_true, vtg_data1.speed_kmh);
printf("[THS] Heading:%.1f<EFBFBD><EFBFBD> Mode:%c\n",
ths_data1.heading, ths_data1.mode);
printf("[VTG] Course:%.1f<EFBFBD><EFBFBD> Speed:%.1fkm/h\n",
vtg_data1.course_true, vtg_data1.speed_kmh);
// printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c Alt:%.2f rtk_state:%d satellite:%d hdop:%2f\n",
// gga_data1.utc_time,
// gga_data1.latitude, gga_data1.lat_dir,
// gga_data1.longitude, gga_data1.lon_dir,
// gga_data1.altitude, // <20><><EFBFBD><EFBFBD><EFBFBD>߶ȵ<DFB6>λΪM(<28><>)
// gga_data1.fix_quality,
// gga_data1.satellites,
// gga_data1.hdop
// );
printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c Alt:%.2f rtk_state:%d satellite:%d hdop:%2f\n",
gga_data1.utc_time,
gga_data1.latitude, gga_data1.lat_dir,
gga_data1.longitude, gga_data1.lon_dir,
gga_data1.altitude, // <20><><EFBFBD><EFBFBD><EFBFBD>߶ȵ<DFB6>λΪM(<28><>)
gga_data1.fix_quality,
gga_data1.satellites,
gga_data1.hdop
);
// printf("<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f, %.6f)\n",
// yis321_data.bit_data.q0*0.000001, yis321_data.bit_data.q1*0.000001, yis321_data.bit_data.q2*0.000001, (int32_t)yis321_data.bit_data.q3*0.000001);
printf("<EFBFBD><EFBFBD>Ԫ<EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f, %.6f)\n",
yis321_data.bit_data.q0*0.000001, yis321_data.bit_data.q1*0.000001, yis321_data.bit_data.q2*0.000001, (int32_t)yis321_data.bit_data.q3*0.000001);
// printf("ŷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f)\n",
// yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001);
printf("ŷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>: (%.6f, %.6f, %.6f)\n",
yis321_data.bit_data.pitch*0.000001, yis321_data.bit_data.roll*0.000001, yis321_data.bit_data.yaw*0.000001);
printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹ<>ô<EFBFBD><C3B4>ڴ<EFBFBD>ӡ<EFBFBD><D3A1><EFBFBD>ٶȣ<D9B6><C8A3><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD>
timerStart(&data_processing_timer, 1000,1);//100ms
}