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DataFlash: add UBX3 message for accuracy logging

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Jonathan Challinger 2014-10-29 16:44:14 -07:00 committed by Andrew Tridgell
parent d03ed7a2c3
commit 9be7039be1
1 changed files with 13 additions and 1 deletions
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14
libraries/DataFlash/DataFlash.h
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@ -419,6 +419,15 @@ struct PACKED log_Ubx2 {
uint8_t magQ;
};
struct PACKED log_Ubx3 {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint8_t instance;
float hAcc;
float vAcc;
float sAcc;
};
// messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
@ -471,7 +480,9 @@ struct PACKED log_Ubx2 {
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "IBHBBH", "TimeMS,Instance,noisePerMS,jamInd,aPower,agcCnt" }, \
{ LOG_UBX2_MSG, sizeof(log_Ubx2), \
"UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }
"UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }, \
{ LOG_UBX3_MSG, sizeof(log_Ubx3), \
"UBX3", "IBfff", "TimeMS,Instance,hAcc,vAcc,sAcc" }
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
@ -507,6 +518,7 @@ struct PACKED log_Ubx2 {
#define LOG_TERRAIN_MSG 150
#define LOG_UBX1_MSG 151
#define LOG_UBX2_MSG 152
#define LOG_UBX3_MSG 153
// message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use