2021-01-23 00:26:33 -04:00
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#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_BARO \
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LOG_BARO_MSG, \
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LOG_BARD_MSG
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2021-01-23 00:26:33 -04:00
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// @LoggerMessage: BARO
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// @Description: Gathered Barometer data
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// @Field: TimeUS: Time since system startup
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// @Field: I: barometer sensor instance number
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// @Field: Alt: calculated altitude
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// @Field: Press: measured atmospheric pressure
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// @Field: Temp: measured atmospheric temperature
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// @Field: CRt: derived climb rate from primary barometer
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// @Field: SMS: time last sample was taken
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// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
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// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground
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// @Field: Health: true if barometer is considered healthy
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struct PACKED log_BARO {
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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 altitude;
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float pressure;
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int16_t temperature;
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float climbrate;
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uint32_t sample_time_ms;
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float drift_offset;
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float ground_temp;
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uint8_t healthy;
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};
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2022-11-24 18:16:20 -04:00
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// @LoggerMessage: BARD
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// @Description: Barometer dynamic data
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// @Field: TimeUS: Time since system startup
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// @Field: I: barometer sensor instance number
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// @Field: DynPrX: calculated dynamic pressure in the bodyframe X-axis
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// @Field: DynPrY: calculated dynamic pressure in the bodyframe Y-axis
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// @Field: DynPrZ: calculated dynamic pressure in the bodyframe Z-axis
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struct PACKED log_BARD {
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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 dyn_pressure_x;
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float dyn_pressure_y;
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float dyn_pressure_z;
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};
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2022-02-23 08:23:35 -04:00
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#define LOG_STRUCTURE_FROM_BARO \
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{ LOG_BARO_MSG, sizeof(log_BARO), \
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"BARO", \
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"Q" "B" "f" "f" "c" "f" "I" "f" "f" "B", \
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"TimeUS," "I," "Alt," "Press," "Temp," "CRt," "SMS," "Offset," "GndTemp," "Health", \
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"s" "#" "m" "P" "O" "n" "s" "m" "O" "-", \
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"F" "-" "0" "0" "B" "0" "C" "?" "0" "-", \
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true \
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}, \
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{ LOG_BARD_MSG, sizeof(log_BARD), \
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"BARD", \
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"Q" "B" "fff", \
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"TimeUS," "I," "DynPrX,DynPrY,DynPrZ", \
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"s" "#" "PPP", \
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"F" "-" "000", \
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true \
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2022-02-23 08:23:35 -04:00
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},
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