mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.5 KiB
C
52 lines
1.5 KiB
C
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#pragma once
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#include <AP_Logger/LogStructure.h>
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#include "AP_Landing_config.h"
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#define LOG_IDS_FROM_LANDING \
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LOG_DSTL_MSG
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#if HAL_LANDING_DEEPSTALL_ENABLED
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// @LoggerMessage: DSTL
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// @Description: Deepstall Landing data
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// @Field: TimeUS: Time since system startup
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// @Field: Stg: Deepstall landing stage
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// @Field: THdg: Target heading
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// @Field: Lat: Landing point latitude
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// @Field: Lng: Landing point longitude
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// @Field: Alt: Landing point altitude
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// @Field: XT: Crosstrack error
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// @Field: Travel: Expected travel distance vehicle will travel from this point
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// @Field: L1I: L1 controller crosstrack integrator value
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// @Field: Loiter: wind estimate loiter angle flown
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// @Field: Des: Deepstall steering PID desired value
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// @Field: P: Deepstall steering PID Proportional response component
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// @Field: I: Deepstall steering PID Integral response component
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// @Field: D: Deepstall steering PID Derivative response component
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struct PACKED log_DSTL {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t stage;
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float target_heading;
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int32_t target_lat;
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int32_t target_lng;
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int32_t target_alt;
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int16_t crosstrack_error;
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int16_t travel_distance;
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float l1_i;
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int32_t loiter_sum_cd;
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float desired;
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float P;
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float I;
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float D;
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};
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#define LOG_STRUCTURE_FROM_LANDING \
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{ LOG_DSTL_MSG, sizeof(log_DSTL), \
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"DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" , true },
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#else
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#define LOG_STRUCTURE_FROM_LANDING
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#endif
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