hxgn_pitch_roll

This program get raw cartesian data and transform to pitch and roll angles. Project developmented to Hexagon Agriculture.

Getting Started

This program were development in Microsoft Visual Studio plataform. To execute you have to run the file HXGNApplication_eval.cpp, inside the folder HXGNApplication_eval.

The algorithm requires an .txt file which contains the set of raw data (cartesian points from accelerometer). The file has to be put inside the folder HXGNApplication_eval. The name of file has to be attitude_exam.txt.

Runing and test

Once execute the main HXGNApplication_eval.cpp, the software will create an output file containing the set of algles calculated (roll and pitch), named output_attitude.txt.

Note that in the folder already contains a file with this name, which in case of the user delete it, the program will create a new one.

Procediments to obtain angles

First step is to get raw data from accelerometer. Since the set of data is structured in line formats (time sampled; x-axis; y-axis; z-axis), is necessary to separated the set of data.

To do that we call the function:

wordsInFile(string line, int& wordCount, int& charCount)

Once counted identified the data, we perform the calculations necessary to obtain the roll and pitch angles, as:

and

The function resposible to calculate is:

rollAndpitch(atof(time), atof(x_axis), atof(y_axis), atof(z_axis));

Finally, to store the set of calculated values in .txt files we use the function:

storageRollPitch(timems, phi, theta);

All the angles is storage in degree units.

Authors

Gustavo L. Mourao.

With consults in: http://www.cplusplus.com/