mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.9 KiB
C
89 lines
2.9 KiB
C
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#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_INERTIALSENSOR \
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LOG_IMU_MSG, \
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LOG_ISBH_MSG, \
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LOG_ISBD_MSG, \
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LOG_VIBE_MSG
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// @LoggerMessage: IMU
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// @Description: Inertial Measurement Unit data
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// @Field: TimeUS: Time since system startup
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// @Field: I: IMU sensor instance number
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// @Field: GyrX: measured rotation rate about X axis
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// @Field: GyrY: measured rotation rate about Y axis
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// @Field: GyrZ: measured rotation rate about Z axis
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// @Field: AccX: acceleration along X axis
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// @Field: AccY: acceleration along Y axis
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// @Field: AccZ: acceleration along Z axis
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// @Field: EG: gyroscope error count
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// @Field: EA: accelerometer error count
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// @Field: T: IMU temperature
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// @Field: GH: gyroscope health
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// @Field: AH: accelerometer health
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// @Field: GHz: gyroscope measurement rate
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// @Field: AHz: accelerometer measurement rate
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struct PACKED log_IMU {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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float gyro_x, gyro_y, gyro_z;
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float accel_x, accel_y, accel_z;
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uint32_t gyro_error, accel_error;
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float temperature;
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uint8_t gyro_health, accel_health;
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uint16_t gyro_rate, accel_rate;
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};
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struct PACKED log_ISBH {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t seqno;
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uint8_t sensor_type; // e.g. GYRO or ACCEL
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uint8_t instance;
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uint16_t multiplier;
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uint16_t sample_count;
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uint64_t sample_us;
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float sample_rate_hz;
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};
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static_assert(sizeof(log_ISBH) < 256, "log_ISBH is over-size");
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struct PACKED log_ISBD {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t isb_seqno;
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uint16_t seqno; // seqno within isb_seqno
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int16_t x[32];
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int16_t y[32];
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int16_t z[32];
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};
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static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");
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// @LoggerMessage: VIBE
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// @Description: Processed (acceleration) vibration information
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// @Field: TimeUS: Time since system startup
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// @Field: IMU: Vibration instance number
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// @Field: VibeX: Primary accelerometer filtered vibration, x-axis
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// @Field: VibeY: Primary accelerometer filtered vibration, y-axis
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// @Field: VibeZ: Primary accelerometer filtered vibration, z-axis
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// @Field: Clip: Number of clipping events on 1st accelerometer
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struct PACKED log_Vibe {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t imu;
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float vibe_x, vibe_y, vibe_z;
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uint32_t clipping;
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};
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#define LOG_STRUCTURE_FROM_INERTIALSENSOR \
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{ LOG_IMU_MSG, sizeof(log_IMU), \
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"IMU", "QBffffffIIfBBHH", "TimeUS,I,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz", "s#EEEooo--O--zz", "F-000000-----00" }, \
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{ LOG_VIBE_MSG, sizeof(log_Vibe), \
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"VIBE", "QBfffI", "TimeUS,IMU,VibeX,VibeY,VibeZ,Clip", "s#----", "F-----" }, \
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{ LOG_ISBH_MSG, sizeof(log_ISBH), \
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"ISBH", "QHBBHHQf", "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate", "s-----sz", "F-----F-" }, \
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{ LOG_ISBD_MSG, sizeof(log_ISBD), \
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"ISBD", "QHHaaa", "TimeUS,N,seqno,x,y,z", "s--ooo", "F--???" },
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