apm code study 02

1.  dump  yaw , pitch ,  roll .    ./libraries/AP_AHRS/AP_AHRS_DCM.cpp

line : 951
   AP_AHRS_DCM::euler_angles(void)
{
    _body_dcm_matrix = _dcm_matrix;
    _body_dcm_matrix.rotateXYinv(_trim);
    _body_dcm_matrix.to_euler(&roll, &pitch, &yaw);

 
    printf("yaw : %f, pitch : %f, roll : %f\n",yaw,pitch,roll);
    update_cd_values();
}

2.  dump   barometer ,  ./ArduCopter/Sensors.cpp

void Copter::read_barometer(void)

{

    barometer.update();

    if (should_log(MASK_LOG_IMU)) {

        Log_Write_Baro();

    }

    baro_alt = barometer.get_altitude() * 100.0f;

    baro_climbrate = barometer.get_climb_rate() * 100.0f;

    printf("baro_alt : %d\n",baro_alt );

    motors.set_air_density_ratio(barometer.get_air_density_ratio());

}

3.  dump  moter pwm