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SITL: add documentation for AirSim ASM1,ASM2 log messages

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This commit is contained in:
Peter Barker 2020-04-06 09:00:10 +10:00 committed by Peter Barker
parent e477f6c840
commit 64c973b592
1 changed files with 24 additions and 0 deletions
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24
libraries/SITL/SIM_AirSim.cpp
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@ -309,6 +309,16 @@ void AirSim::recv_fdm()
}
#if 0
// @LoggerMessage: ASM1
// @Description: AirSim simulation data
// @Field: TimeUS: Time since system startup
// @Field: TUS: Simulation's timestamp
// @Field: R: Simulation's roll
// @Field: P: Simulation's pitch
// @Field: Y: Simulation's yaw
// @Field: GX: Simulated gyroscope, X-axis
// @Field: GY: Simulated gyroscope, Y-axis
// @Field: GZ: Simulated gyroscope, Z-axis
AP::logger().Write("ASM1", "TimeUS,TUS,R,P,Y,GX,GY,GZ",
"QQffffff",
AP_HAL::micros64(),
@ -323,6 +333,20 @@ void AirSim::recv_fdm()
Vector3f velocity_bf = dcm.transposed() * velocity_ef;
position = home.get_distance_NED(location);
// @LoggerMessage: ASM2
// @Description: More AirSim simulation data
// @Field: TimeUS: Time since system startup
// @Field: AX: simulation's acceleration, X-axis
// @Field: AY: simulation's acceleration, Y-axis
// @Field: AZ: simulation's acceleration, Z-axis
// @Field: VX: simulation's velocity, X-axis
// @Field: VY: simulation's velocity, Y-axis
// @Field: VZ: simulation's velocity, Z-axis
// @Field: PX: simulation's position, X-axis
// @Field: PY: simulation's position, Y-axis
// @Field: PZ: simulation's position, Z-axis
// @Field: Alt: simulation's gps altitude
// @Field: SD: simulation's earth-frame speed-down
AP::logger().Write("ASM2", "TimeUS,AX,AY,AZ,VX,VY,VZ,PX,PY,PZ,Alt,SD",
"Qfffffffffff",
AP_HAL::micros64(),