From 25ac6a9d3096ec740db3102a6a2ca33b20d6b1c5 Mon Sep 17 00:00:00 2001
From: Sebastian Reichel <sre@ring0.de>
Date: Sun, 14 Oct 2012 22:43:03 +0200
Subject: add log info to kinematics module

---
 ctrl/kinematics.vala | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ctrl/kinematics.vala b/ctrl/kinematics.vala
index 0e90a8f..52c4921 100644
--- a/ctrl/kinematics.vala
+++ b/ctrl/kinematics.vala
@@ -68,6 +68,8 @@ public class Kinematics {
 		double exMag, eyMag, ezMag;
 		double q0i, q1i, q2i, q3i;
 
+		log("Kinematics", LogLevelFlags.LEVEL_DEBUG, @"sensors: GYRO: $gx $gy $gz, ACCEL: $ax $ay $az, COMPASS: $mx $my $mz");
+
 		halfT = time/2;
 
 		/* normalise the accelerometer measurements */
@@ -144,5 +146,7 @@ public class Kinematics {
 		kinematicsAngle[AXIS.X] = Math.atan2(2 * (q0*q1 + q2*q3), 1 - 2 *(q1*q1 + q2*q2));
 		kinematicsAngle[AXIS.Y] = Math.asin(2 * (q0*q2 - q1*q3));
 		kinematicsAngle[AXIS.Z] = Math.atan2(2 * (q0*q3 + q1*q2), 1 - 2 *(q2*q2 + q3*q3));
+
+		log("Kinematics", LogLevelFlags.LEVEL_INFO, @"angles: $(kinematicsAngle[AXIS.X]), $(kinematicsAngle[AXIS.Y]), $(kinematicsAngle[AXIS.Z])");
 	}
 }
-- 
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