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Data Logging Example Project

This ISLoggerExample project demonstrates data logging with the InertialSense products (uINS, uAHRS, and uIMU) using the Inertial Sense SDK.

Files

Project Files

SDK Files

Implementation

Step 1: Add Includes

// Change these include paths to the correct paths for your project
#include "../../src/InertialSense.h"

Step 2: Instantiate InertialSense class

    // InertialSense class wraps communications and logging in a convenient, easy to use class
    InertialSense inertialSense(dataCallback);
    if (!inertialSense.Open(argv[1]))
    {
        std::cout << "Failed to open com port at " << argv[1] << std::endl;
    }

Step 3: Enable data logger

    // get log type from command line
    cISLogger::eLogType logType = (argc < 3 ? cISLogger::eLogType::LOGTYPE_DAT : cISLogger::ParseLogType(argv[2]));
    inertialSense.SetLoggerEnabled(true, "", logType);

Step 4: Enable data broadcasting

    // broadcast the standard set of post processing messages (ins, imu, etc.)
    inertialSense.BroadcastBinaryDataRmcPreset();

    // instead of the rmc preset (real-time message controller) you can request individual messages...
    // inertialSense.BroadcastBinaryData(DID_DUAL_IMU, 10); // imu every 10 milliseconds (100 hz)

By default, data logs will be stored in the "IS_logs" directory in the current directory.

build/IS_logs/LOG_SN30664_20180323_112822_0001.dat

Compile & Run (Linux/Mac)

  1. Create build directory
    $ cd InertialSenseSDK/ExampleProjects/Logger
    $ mkdir build
    
  2. Run cmake from within build directory
    $ cd build
    $ cmake ..
    
  3. Compile using make
    $ make
    
  4. If necessary, add current user to the "dialout" group in order to read and write to the USB serial communication ports:
    $ sudo usermod -a -G dialout $USER
    $ sudo usermod -a -G plugdev $USER
    (reboot computer)
    
  5. Run executable
    $ ./ISLoggerExample /dev/ttyUSB0
    

Compile & Run (Windows MS Visual Studio)

  1. Install and Configure Visual Studio
  2. Open Visual Studio solution file (InertialSenseSDK\ExampleProjects\Logger\VS_project\InertialSenseCLTool.sln)
  3. Build (F7)
  4. Run executable
    C:\InertialSenseSDK\ExampleProjects\Logger\VS_project\Release\ISLoggerExample.exe COM3
    

Summary

This section has covered the basic functionality you need to set up and communicate with Inertial Sense products. If this doesn't cover everything you need, feel free to reach out to us on the Inertial Sense SDK GitHub repository, and we will be happy to help.