2021-04-12 07:40:26 -03:00
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
#include <AP_Logger/LogStructure.h>
|
|
|
|
|
|
|
|
|
|
#define LOG_IDS_FROM_PRECLAND \
|
|
|
|
|
LOG_PRECLAND_MSG
|
|
|
|
|
|
|
|
|
|
// @LoggerMessage: PL
|
|
|
|
|
// @Description: Precision Landing messages
|
|
|
|
|
// @Field: TimeUS: Time since system startup
|
|
|
|
|
// @Field: Heal: True if Precision Landing is healthy
|
|
|
|
|
// @Field: TAcq: True if landing target is detected
|
|
|
|
|
// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found)
|
|
|
|
|
// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found)
|
|
|
|
|
// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found)
|
|
|
|
|
// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found)
|
|
|
|
|
// @Field: mX: Target's relative to origin position as 3-D Vector, X-Axis
|
|
|
|
|
// @Field: mY: Target's relative to origin position as 3-D Vector, Y-Axis
|
|
|
|
|
// @Field: mZ: Target's relative to origin position as 3-D Vector, Z-Axis
|
|
|
|
|
// @Field: LastMeasMS: Time when target was last detected
|
|
|
|
|
// @Field: EKFOutl: EKF's outlier count
|
|
|
|
|
// @Field: Est: Type of estimator used
|
|
|
|
|
|
|
|
|
|
// precision landing logging
|
|
|
|
|
struct PACKED log_Precland {
|
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
|
uint64_t time_us;
|
|
|
|
|
uint8_t healthy;
|
|
|
|
|
uint8_t target_acquired;
|
|
|
|
|
float pos_x;
|
|
|
|
|
float pos_y;
|
|
|
|
|
float vel_x;
|
|
|
|
|
float vel_y;
|
|
|
|
|
float meas_x;
|
|
|
|
|
float meas_y;
|
|
|
|
|
float meas_z;
|
|
|
|
|
uint32_t last_meas;
|
|
|
|
|
uint32_t ekf_outcount;
|
|
|
|
|
uint8_t estimator;
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
#define LOG_STRUCTURE_FROM_PRECLAND \
|
|
|
|
|
{ LOG_PRECLAND_MSG, sizeof(log_Precland), \
|
2021-07-27 05:48:09 -03:00
|
|
|
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" , true },
|
