Merge pull request #38 from Propulsive-Landing/feature-dataformatting

Changed data logging format to make easier to extract

include/Controller.hpp

@@ -30,10 +30,8 @@ class Controller{
     Controller(TVC& tvc);   
     void UpdateLaunch(Navigation& navigation, double current_time);
     void UpdateTestTVC(double testTime);
-
     void UpdateLand(Navigation &navigation, double current_time);
     void stabilizeAtOffset(Navigation& navigation, double current_time, double offset);
-
     void UpdateSafe();
     void GetNextController_Gain_Time_Index(double startTime);
     void CalculateInput();
@@ -42,6 +40,7 @@ class Controller{
     void Center();
     void ImportControlParameters(std::string file_name);
     void ResetKIteration(double current_time);
+    int GetCurrentIterationIndex();
     Eigen::Matrix<double, 2, 8>  GetCurrentKMatrix();
 
 };

include/Navigation.hpp

@@ -14,7 +14,6 @@ class Navigation
         IMU& imu;
         Barometer& barometer;
         TVC& tvc;
-
         Eigen::Matrix<double, 12, 1> stateMat;
         std::deque<std::vector<double>> d_theta_queue_reckon;
         double pressureInit;

src/Controller.cpp

@@ -188,3 +188,9 @@ Eigen::Matrix<double, 2, 8> Controller::GetCurrentKMatrix()
 {
     return controller_gains.block(current_iteration_index*2, 0, 2, 8);
 }
+
+
+int Controller::GetCurrentIterationIndex()
+{
+    return current_iteration_index;
+}

src/Telemetry.cpp

@@ -21,27 +21,18 @@ void Telemetry::HardwareSaveFrame(Navigation& navigation, Controller& controller
     auto time_now = std::chrono::system_clock::now();
     auto in_time_t = std::chrono::system_clock::to_time_t(time_now);
 
-    HardwareSaved << std::put_time(std::localtime(&in_time_t), "%c") << ",";
+    HardwareSaved << std::put_time(std::localtime(&in_time_t), "%c") << ", " ;
 
     // Navigation state, U, k matrix current index
     // Write data to file
 
 
     for(int i = 0; i < 12; ++i){
-        HardwareSaved << "State[" << i << "]: " << std::to_string(navigation.GetNavigation()(i))<< ", \n";
-    }
-
-    for(int i = 0; i < 2; ++i)
-    {
-        for(int j = 0; j < 8; ++j)
-        {
-            double value = controller.GetCurrentKMatrix()(i,j); 
-            HardwareSaved << "k[" << i << "][" << j << "]: " << std::to_string(value)<< ", ";
-        }
-        HardwareSaved<<"\n" << std::flush;
+        HardwareSaved << std::to_string(navigation.GetNavigation()(i))<< ", ";
     }
+    HardwareSaved << std::to_string(controller.GetCurrentIterationIndex());
 
-
+    HardwareSaved<<"\n" << std::flush;
 }
 
 
@@ -138,6 +129,9 @@ Telemetry::Telemetry()
     Logs.open ("../logs/logs"+str+".txt");
     HardwareSaved.open ("../logs/data"+str+".txt");
 
+    HardwareSaved << "Date, x, y, z, vx, vy, vz, phi, theta, psi, p, q, r, K_Matrix_Index \n";
+
+
     //TODO Write headers to data file where needed
 }