Telemetry data
In not disabled, several telemtry data is collected while driving for two purposes:
- Display HUD data
- Saving as CSV and DAT file in the
data/telemtrydirectory of project root
This is done by the log_stats node. An offset is used filter out extreme values when the race is started in autonomous driving mode (currently first 100 values - this can be changed in the log_stats.h file). The only really measured values are current speed, allowed speed by algorithm and steering angle. The others are derived from the speed values.
If the log_stats node is killed, it will be restarted automatically and creating a new dataset. We observed, that outside the simulation the node didn't receive any speed information anymore if the node is restarted, but we can't reproduce that problem and so cannot fix it atm.
Both files contains the same values, the CSV file is good for a quick view, the DAT file for use with latex PGF-Plots and the report creation tool of toad.sh.
The files contain the following values:
- Datapoint: An incrementing number of the data line
- AverageTime: How many values to calculate time based average values for the data file (when set to 100, the average of a value is calculated of the last 100 values)
- AverageSmooth: How many values to calculate an average to be shown as a smoothed value in the HUD (when set to 10, the average of a value is calculated of the last 10 values)
- Time: Current Time
- TimeDelta: Time since last record
- Speed: Current speed of the car
- SpeedDelta: Change of speed since the last record
- SpeedAverage: Average speed over all recorded values
- SpeedAverageTime: Average speed over AverageTime recorded values
- SpeedMax: Maximum speed of the car
- SpeedMaxTime: Maximum speed over AverageTime recorded values
- Maxspeed: Current maximum possible allowed speed from driving algorithm
- MaxspeedDelta: Change of maximum possible allowed speed from driving algorithm since the last record
- MaxspeedAverage: Average maximum possible allowed speed from driving algorithm over all recorded values
- Angle: Current angle of the front wheels in degrees
- AngleDelta: Change of angle of the front wheels in degrees since last record
- Acceleration: Current acceleration of the car
- AccelerationSmooth: Smoothed acceleration over AverageSmooth recorded values
- AccelerationDelta: Change of acceleration since the last record
- AccelerationMin: Minimum acceleration over all recorded values
- AccelerationMax: Maximum acceleration over all recorded values
- AccelerationMinTime: Minimum acceleration over AverageTime recorded values
- AccelerationMaxTime: Maximum acceleration over AverageTime recorded values
- Distance: Driven distance in meters
- DistanceDelta: Driven distance in meters since last record
- Turn: Steering value from -1 to 1
- TurnDelta: Steering value change since last record
- RPM: Current motor RPM
