mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.4 KiB
C
41 lines
1.4 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_NAVEKF2 \
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LOG_NKT_MSG
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struct PACKED log_NKT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint32_t timing_count;
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float dtIMUavg_min;
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float dtIMUavg_max;
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float dtEKFavg_min;
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float dtEKFavg_max;
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float delAngDT_min;
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float delAngDT_max;
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float delVelDT_min;
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float delVelDT_max;
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};
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// @LoggerMessage: NKT
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// @Description: EKF2 timing information
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: Cnt: count of samples used to create this message
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// @Field: IMUMin: smallest IMU sample interval
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// @Field: IMUMax: largest IMU sample interval
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// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum)
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// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum)
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// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum)
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// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum)
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// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum)
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// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum)
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#define LOG_STRUCTURE_FROM_NAVEKF2 \
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{ LOG_NKT_MSG, sizeof(log_NKT), \
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"NKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"},
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