From cf79d72ec7db8bdb410c7f61ebe1c84eaf61c310 Mon Sep 17 00:00:00 2001 From: Eiren Rain Date: Sun, 14 Mar 2021 16:13:34 +0300 Subject: [PATCH] Added more UART debug --- src/bno080sensor.cpp | 10 ++++++++++ src/defines.h | 2 ++ 2 files changed, 12 insertions(+) diff --git a/src/bno080sensor.cpp b/src/bno080sensor.cpp index 1a5de3f..81a7845 100644 --- a/src/bno080sensor.cpp +++ b/src/bno080sensor.cpp @@ -64,6 +64,16 @@ void BNO080Sensor::sendData() { if(newData) { newData = false; sendQuat(&quaternion, PACKET_ROTATION); + #ifdef FULL_DEBUG + Serial.print("Quaternion: "); + Serial.print(quaternion.x); + Serial.print(","); + Serial.print(quaternion.y); + Serial.print(","); + Serial.print(quaternion.z); + Serial.print(","); + Serial.println(quaternion.w); + #endif } } diff --git a/src/defines.h b/src/defines.h index 547ca4f..ff19347 100644 --- a/src/defines.h +++ b/src/defines.h @@ -21,6 +21,8 @@ THE SOFTWARE. */ +#define FULL_DEBUG 1 + #define IMU_MPU9250 1 #define IMU_MPU6500 2 #define IMU_BNO080 3