mirror of https://github.com/ArduPilot/ardupilot
DataFlash: add UBX3 message for accuracy logging
This commit is contained in:
parent
d03ed7a2c3
commit
9be7039be1
|
@ -419,6 +419,15 @@ struct PACKED log_Ubx2 {
|
||||||
uint8_t magQ;
|
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
|
// messages for all boards
|
||||||
#define LOG_BASE_STRUCTURES \
|
#define LOG_BASE_STRUCTURES \
|
||||||
{ LOG_FORMAT_MSG, sizeof(log_Format), \
|
{ LOG_FORMAT_MSG, sizeof(log_Format), \
|
||||||
|
@ -471,7 +480,9 @@ struct PACKED log_Ubx2 {
|
||||||
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \
|
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \
|
||||||
"UBX1", "IBHBBH", "TimeMS,Instance,noisePerMS,jamInd,aPower,agcCnt" }, \
|
"UBX1", "IBHBBH", "TimeMS,Instance,noisePerMS,jamInd,aPower,agcCnt" }, \
|
||||||
{ LOG_UBX2_MSG, sizeof(log_Ubx2), \
|
{ 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
|
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
|
||||||
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
|
#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_TERRAIN_MSG 150
|
||||||
#define LOG_UBX1_MSG 151
|
#define LOG_UBX1_MSG 151
|
||||||
#define LOG_UBX2_MSG 152
|
#define LOG_UBX2_MSG 152
|
||||||
|
#define LOG_UBX3_MSG 153
|
||||||
|
|
||||||
// message types 200 to 210 reversed for GPS driver use
|
// message types 200 to 210 reversed for GPS driver use
|
||||||
// message types 211 to 220 reversed for autotune use
|
// message types 211 to 220 reversed for autotune use
|
||||||
|
|
Loading…
Reference in New Issue