Logging

The logging system is the most important analysis tool we have.

This allows us to export any variable data we want out to an external text file. This way we can use any data processor to parse the data. (Excel, MATLAB, R, etc.)

Creating and Using the Log Files

We first need to initialize the log files and prepare them before each test.

1. Create empty File Pointers (code in 'eris_vrpn.cpp')

FILE * outHand = NULL;
FILE * out1 = NULL;
FILE * out2 = NULL;
FILE * out3 = NULL;
FILE * out4 = NULL;

2. Make sure Logging is Enabled (and Basic Logging if desired)

#define USE_VRPN 1
#define USE_KEYBOARD 1
#define USE_PRINTOUT 0

#define USE_LOGGING 1        <---//Enables Full Logging
#define USE_BASIC_LOGGING 1  <---//Only logs the necessities (FULL LOGGING MUST BE ENABLED FOR THIS TO WORK)

#define USE_PR_YAW_CORRECT 0
#define USE_HAND 1

3. Create Log File Header (# = Log File Title, % = List of Variable Names, & = List of Variable Units)

Note 1: This example is using BASIC_LOGGING 1,

Note 2: Variables and units are separated by a double tab '\t\t' (Does not have to be '\t\t' any delimiter works)

		const char * logHeaderHand = "#Hand Log File\n\
%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tLoopTime\t\tLoopTimeDelta\n\
&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tseconds\t\tseconds\n";

		const char * logHeader1 = "#Crazyflie1 Log File\n\
%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tCamYaw\t\tCorrectedYaw\t\tLoopTimeTotal\t\tLoopTimeTotalDelta\t\tLoopTime\t\tLoopTimeDelta\t\tvrpnPacketDelta\t\tvrpnPacketTime\t\tvrpnPacketBackup\t\tRadioRSSI\n\
&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tdegrees\t\tdegrees\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tpackets\t\tstrength\n";
										
	const char * logHeader2 = "#Crazyflie2 Log File\n\
%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tCamYaw\t\tCorrectedYaw\t\tLoopTimeTotal\t\tLoopTimeTotalDelta\t\tLoopTime\t\tLoopTimeDelta\t\tvrpnPacketDelta\t\tvrpnPacketTime\t\tvrpnPacketBackup\n\
&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tdegrees\t\tdegrees\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tpackets\n";

	const char * logHeader3 = "#Crazyflie3 Log File\n\
%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tCamYaw\t\tCorrectedYaw\t\tLoopTimeTotal\t\tLoopTimeTotalDelta\t\tLoopTime\t\tLoopTimeDelta\t\tvrpnPacketDelta\t\tvrpnPacketTime\t\tvrpnPacketBackup\n\
&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tdegrees\t\tdegrees\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tpackets\n";

	const char * logHeader4 = "#Crazyflie4 Log File\n\
%Time\t\tPitch\t\tRoll\t\tYaw\t\tX\t\tY\t\tZ\t\tCamYaw\t\tCorrectedYaw\t\tLoopTimeTotal\t\tLoopTimeTotalDelta\t\tLoopTime\t\tLoopTimeDelta\t\tvrpnPacketDelta\t\tvrpnPacketTime\t\tvrpnPacketBackup\n\
&sec\t\tdegrees\t\tdegrees\t\tdegrees\t\tmeters\t\tmeters\t\tmeters\t\tdegrees\t\tdegrees\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tseconds\t\tpackets\n";
	

4. Open External .txt file and Print Header into file

#if USE_HAND
	outHand = fopen("hand.txt", "w");          //Opens text file with write permission
		
		if(outHand == NULL)
		{
			printf("Could not open hand.log: errno %d\n", errno);
			exit(-1);
		}
		
	fprintf(outHand, "%s\n", logHeaderHand);   //Prints log header into corresponding file
#endif
	if(cflieCopter1)                           //Checks to see if cflieCopter pointer has been initialized before opening file
	{
		out1 = fopen("cflie1.txt", "w");
		
		if(out1 == NULL)
		{
			printf("Could not open cflie1.log: errno %d\n", errno);
			exit(-1);
		}
		
		fprintf(out1, "%s\n", logHeader1);
	}
		
	if(cflieCopter2)
	{
		out2 = fopen("cflie2.txt", "w");
		
		if(out2 == NULL)
		{
			printf("Could not open cflie2.log:errno %d\n", errno);
			exit(-1);
		}
		
		fprintf(out2, "%s\n", logHeader2);
	}

	if(cflieCopter3)
	{
		out3 = fopen("cflie3.txt", "w");
		
		if(out3 == NULL)
		{
			printf("Could not open cflie3.log:errno %d\n", errno);
			exit(-1);
		}
		
		fprintf(out3, "%s\n", logHeader3);
	}
	if(cflieCopter4)
	{
		out4 = fopen("cflie4.txt", "w");
		
		if(out4 == NULL)
		{
			printf("Could not open cflie4.log:errno %d\n", errno);
			exit(-1);
		}

		fprintf(out4, "%s\n", logHeader4);
	}

5. Init has Completed (Start Program Loop) Prints Variable values to file...

Note 1: This code is run at the end of the Callback for each Crazyflie initialized (Executes once per new data packet)

Note 2: This example is using BASIC_LOGGING, and is only showing Crazyflie1's code.

	fprintf(out1, "%.6f\t\t", cflieCopter1->currentTime() - initTime1 );
	fprintf(out1, "%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.3f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%.6f\t\t%d\t\t%d",
				cflieCopter1->roll(), 
				cflieCopter1->pitch(), 
				quadYaw1, 
				t.pos[0], 
				t.pos[1], 
				-t.pos[2],
				camYawDeg1,
				correctedYaw1,
				loopTimeTotal,
				loopTimeTotalDelta,
				loopTime1,
				loopTime1Delta,
				vrpnPacketDelta1,
				vrpnPacketTime1,
				vrpnPacketBackup1,
				cflieCopter1->radioRSSI());	
	fprintf(out1, "\n");

6. Close External .txt files before ending program

#if USE_LOGGING
	#if USE_HAND
		fclose(outHand);
	#endif
	#if NUM_QUADS >= 1
		fclose(out1);
	#endif
	#if NUM_QUADS >= 2
		fclose(out2);
	#endif
	#if NUM_QUADS >= 3
		fclose(out3);
	#endif
	#if NUM_QUADS >= 4
		fclose(out4);
	#endif
#endif

MATLAB Parser

We use a Matlab script to parse the log files.

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