void serialPortOut(){
// Set textLength to the number of parameters to print * 31
int textLength = 16 * 31;
char text[textLength];
//Temporary text parameters
char acc_xText[30];
char acc_yText[30];
char acc_zText[30];
char accNED_xText[30];
char accNED_yText[30];
char accNED_zText[30];
char dtText[30];
char utcText[30];
char fixTypeText[30];
char latText[30];
char lonText[30];
char altText[30];
char velNText[30];
char velEText[30];
char velDText[30];
char pitchText[30];
char rollText[30];
char yawText[30];
char tS_Text[30];
#ifdef coutD
if ( TVsec >= 1000 ) {
coutD.print( " AC0 tos=");
coutD.print( AC0 );
coutD.print( "\t | AC1 tsp=");
coutD.print( AC1 );
coutD.print( "\t | AC2 tpl=");
coutD.print( AC2 );
coutD.print( "\t | AC3 tso=");
coutD.print( AC3 );
coutD.print( "\t | AHz =");
coutD.println( AHz );
AC0 = AC1 = AC2 = AC3 = AHz = 0;
TVsec = 0;
}
AHz++;
TVt = 0;
#endif
dtostrf(timeStamp*0.001,10,6, tS_Text);
dtostrf(utcTime, 10, 10, utcText);
dtostrf(_dt, 10, 10, dtText);
dtostrf(uBloxData.fixType, 10, 7, fixTypeText);
dtostrf(uBloxData.lat, 10, 7, latText);
dtostrf(uBloxData.lon, 10, 7, lonText);
dtostrf(uBloxData.height, 10, 7, altText);
dtostrf(uBloxData.velN, 10, 4, velNText);
dtostrf(uBloxData.velE, 10, 4, velEText);
dtostrf(uBloxData.velD, 10, 4, velDText);
dtostrf(ypr[1], 10, 4, pitchText);
dtostrf(ypr[2], 10, 4, rollText);
dtostrf(ypr[0], 10, 4, yawText);
dtostrf(aNEDx1, 10, 4, accNED_xText);
dtostrf(aNEDy1, 10, 4, accNED_yText);
dtostrf(aNEDz1, 10, 4, accNED_zText);
AC0 += TVt; // double to string time
TVt = 0;
rtk.upDated = false;
// Create single text parameter and print it
snprintf(text, textLength, "%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s,%s",
tS_Text, utcText, dtText, fixTypeText,
latText, lonText, altText,
velNText, velEText, velDText,
pitchText, rollText, yawText,
accNED_xText, accNED_yText, accNED_zText);
//snprintf(text, textLength, "%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f,%10.6f",
// timeStamp*0.001, rtk.utcTime,
// _dt, rtk.fixType,rtk.lat1, rtk.lon1, rtk.hMSL,
// rtk.velN, rtk.velE, rtk.velD,
// ypr[1], ypr[2], ypr[0],
// aNEDx1, aNEDy1, aNEDz1);
AC1 += TVt; // time to convert to text string
TVt = 0;
cout.println(text);
AC2 += TVt; //time to print to port
TVt = 0;
cout.send_now();
AC3 += TVt; //send_now flush time
}