mirror of https://github.com/ArduPilot/ardupilot
AP_Logger: use instance numbers for logging GPS data
This commit is contained in:
Peter Barker
Peter Barker
parent
f57082a2e0
commit
a12c2a6b87
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@ -142,9 +142,10 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
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float yaw_deg=0, yaw_accuracy_deg=0;
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gps.gps_yaw_deg(i, yaw_deg, yaw_accuracy_deg);
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const struct log_GPS pkt = {
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
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const struct log_GPS pkt {
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LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
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time_us : time_us,
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instance : i,
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status : (uint8_t)gps.status(i),
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gps_week_ms : gps.time_week_ms(i),
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gps_week : gps.time_week(i),
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@ -167,8 +168,9 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
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gps.vertical_accuracy(i, vacc);
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gps.speed_accuracy(i, sacc);
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struct log_GPA pkt2{
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LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPA_MSG+i)),
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LOG_PACKET_HEADER_INIT(LOG_GPA_MSG),
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time_us : time_us,
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instance : i,
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vdop : gps.get_vdop(i),
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hacc : (uint16_t)MIN((hacc*100), UINT16_MAX),
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vacc : (uint16_t)MIN((vacc*100), UINT16_MAX),
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@ -207,6 +207,7 @@ struct PACKED log_Error {
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struct PACKED log_GPS {
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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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uint8_t status;
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uint32_t gps_week_ms;
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uint16_t gps_week;
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@ -225,6 +226,7 @@ struct PACKED log_GPS {
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struct PACKED log_GPA {
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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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uint16_t vdop;
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uint16_t hacc;
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uint16_t vacc;
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@ -1304,17 +1306,6 @@ struct PACKED log_PSC {
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// UNIT messages define units which can be referenced by FMTU messages
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// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
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#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
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#define GPA_FMT "QCCCCfBIH"
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#define GPA_UNITS "smmmnd-ss"
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#define GPA_MULTS "FBBBB0-CC"
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// see "struct GPS_State" and "Write_GPS":
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#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U"
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#define GPS_FMT "QBIHBcLLeffffB"
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#define GPS_UNITS "s---SmDUmnhnh-"
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#define GPS_MULTS "F---0BGGB000--"
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#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
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#define ISBH_FMT "QHBBHHQf"
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#define ISBH_UNITS "s-----sz"
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@ -1595,8 +1586,9 @@ struct PACKED log_PSC {
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// @Field: UnitIds: each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format
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// @Field: MultIds: each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format
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// @LoggerMessage: GPA,GPA2
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// @LoggerMessage: GPA
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// @Description: GPS accuracy information
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// @Field: I: GPS instance number
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// @Field: TimeUS: Time since system startup
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// @Field: VDop: vertical degree of procession
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// @Field: HAcc: horizontal position accuracy
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@ -1607,42 +1599,10 @@ struct PACKED log_PSC {
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// @Field: SMS: time since system startup this sample was taken
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// @Field: Delta: system time delta between the last two reported positions
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//note: GPAB is a copy of GPA and GPA2!
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// @LoggerMessage: GPAB
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// @Description: Blended GPS accuracy information
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// @Field: TimeUS: Time since system startup
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// @Field: VDop: vertical degree of procession
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// @Field: HAcc: horizontal position accuracy
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// @Field: VAcc: vertical position accuracy
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// @Field: SAcc: speed accuracy
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// @Field: YAcc: yaw accuracy
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// @Field: VV: true if vertical velocity is available
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// @Field: SMS: time since system startup this sample was taken
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// @Field: Delta: system time delta between the last two reported positions
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// @LoggerMessage: GPS,GPS2
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// @LoggerMessage: GPS
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// @Description: Information received from GNSS systems attached to the autopilot
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// @Field: TimeUS: Time since system startup
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// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
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// @Field: GMS: milliseconds since start of GPS Week
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// @Field: GWk: weeks since 5 Jan 1980
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// @Field: NSats: number of satellites visible
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// @Field: HDop: horizontal precision
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// @Field: Lat: latitude
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// @Field: Lng: longitude
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// @Field: Alt: altitude
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// @Field: Spd: ground speed
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// @Field: GCrs: ground course
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// @Field: VZ: vertical speed
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// @Field: Yaw: vehicle yaw
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// @Field: U: boolean value indicating whether this GPS is in use
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// Note: GPSB is a copy of GPS!
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// @LoggerMessage: GPSB
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// @Description: Information blended from GNSS systems attached to the autopilot
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// @Field: TimeUS: Time since system startup
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// @Field: I: GPS instance number
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// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
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// @Field: GMS: milliseconds since start of GPS Week
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// @Field: GWk: weeks since 5 Jan 1980
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@ -2479,17 +2439,9 @@ struct PACKED log_PSC {
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{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
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"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
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{ LOG_GPS_MSG, sizeof(log_GPS), \
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"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
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{ LOG_GPS2_MSG, sizeof(log_GPS), \
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"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
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{ LOG_GPSB_MSG, sizeof(log_GPS), \
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"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
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"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#---SmDUmnhnh-", "F----0BGGB000--" }, \
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{ LOG_GPA_MSG, sizeof(log_GPA), \
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"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
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{ LOG_GPA2_MSG, sizeof(log_GPA), \
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"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
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{ LOG_GPAB_MSG, sizeof(log_GPA), \
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"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
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"GPA", "QBCCCCfBIH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta", "s#mmmnd-ss", "F-BBBB0-CC" }, \
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{ LOG_IMU_MSG, sizeof(log_IMU), \
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"IMU", "QBffffffIIfBBHH", "TimeUS,I,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz", "s#EEEooo--O--zz", "F-000000-----00" }, \
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{ LOG_MESSAGE_MSG, sizeof(log_Message), \
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@ -2718,8 +2670,6 @@ enum LogMessages : uint8_t {
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LOG_XKV2_MSG,
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LOG_PARAMETER_MSG,
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LOG_GPS_MSG,
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LOG_GPS2_MSG,
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LOG_GPSB_MSG,
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LOG_IMU_MSG,
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LOG_MESSAGE_MSG,
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LOG_RCIN_MSG,
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@ -2772,8 +2722,6 @@ enum LogMessages : uint8_t {
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LOG_ORGN_MSG,
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LOG_RPM_MSG,
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LOG_GPA_MSG,
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LOG_GPA2_MSG,
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LOG_GPAB_MSG,
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LOG_RFND_MSG,
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LOG_MAV_STATS,
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LOG_FORMAT_UNITS_MSG,
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