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DataFlash: support for units on fields

This commit is contained in:
Peter Barker 2015-12-08 11:51:46 +11:00 committed by Peter Barker
parent 1e512338f9
commit a5442fb293
8 changed files with 399 additions and 119 deletions
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30
libraries/DataFlash/DFMessageWriter.cpp
View File

@ -26,6 +26,9 @@ void DFMessageWriter_DFLogStart::reset()
stage = ls_blockwriter_stage_init;
next_format_to_send = 0;
_next_unit_to_send = 0;
_next_multiplier_to_send = 0;
_next_format_unit_to_send = 0;
ap = AP_Param::first(&token, &type);
}
@ -48,6 +51,33 @@ void DFMessageWriter_DFLogStart::process()
stage = ls_blockwriter_stage_parms;
FALLTHROUGH;
case ls_blockwriter_stage_units:
while (_next_unit_to_send < _dataflash_backend->num_units()) {
if (!_dataflash_backend->Log_Write_Unit(_dataflash_backend->unit(_next_unit_to_send))) {
return; // call me again!
}
_next_unit_to_send++;
}
stage = ls_blockwriter_stage_multipliers;
case ls_blockwriter_stage_multipliers:
while (_next_multiplier_to_send < _dataflash_backend->num_multipliers()) {
if (!_dataflash_backend->Log_Write_Multiplier(_dataflash_backend->multiplier(_next_multiplier_to_send))) {
return; // call me again!
}
_next_multiplier_to_send++;
}
stage = ls_blockwriter_stage_units;
case ls_blockwriter_stage_format_units:
while (_next_format_unit_to_send < _dataflash_backend->num_types()) {
if (!_dataflash_backend->Log_Write_Format_Units(_dataflash_backend->structure(_next_format_unit_to_send))) {
return; // call me again!
}
_next_format_unit_to_send++;
}
stage = ls_blockwriter_stage_parms;
case ls_blockwriter_stage_parms:
while (ap) {
if (!_dataflash_backend->Log_Write_Parameter(ap, token, type)) {

8
libraries/DataFlash/DFMessageWriter.h
View File

@ -89,6 +89,9 @@ private:
enum log_start_blockwriter_stage {
ls_blockwriter_stage_init,
ls_blockwriter_stage_formats,
ls_blockwriter_stage_units,
ls_blockwriter_stage_multipliers,
ls_blockwriter_stage_format_units,
ls_blockwriter_stage_parms,
ls_blockwriter_stage_sysinfo,
ls_blockwriter_stage_write_entire_mission,
@ -101,6 +104,11 @@ private:
log_start_blockwriter_stage stage = ls_blockwriter_stage_init;
uint16_t next_format_to_send;
uint8_t _next_unit_to_send;
uint8_t _next_format_unit_to_send;
uint8_t _next_multiplier_to_send;
AP_Param::ParamToken token;
AP_Param *ap;
enum ap_var_type type;

13
libraries/DataFlash/DataFlash.cpp
View File

@ -323,6 +323,15 @@ bool DataFlash_Class::should_log(const uint32_t mask) const
return true;
}
const struct UnitStructure *DataFlash_Class::unit(uint16_t num) const
{
return &_units[num];
}
const struct MultiplierStructure *DataFlash_Class::multiplier(uint16_t num) const
{
return &log_Multipliers[num];
}
#define FOR_EACH_BACKEND(methodcall) \
do { \
@ -708,7 +717,7 @@ int16_t DataFlash_Class::Log_Write_calc_msg_len(const char *fmt) const
bool DataFlash_Class::Log_Write_ISBH(const uint16_t seqno,
const AP_InertialSensor::IMU_SENSOR_TYPE sensor_type,
const uint8_t sensor_instance,
const uint16_t multiplier,
const uint16_t mult,
const uint16_t sample_count,
const uint64_t sample_us,
const float sample_rate_hz)
@ -722,7 +731,7 @@ bool DataFlash_Class::Log_Write_ISBH(const uint16_t seqno,
seqno : seqno,
sensor_type : (uint8_t)sensor_type,
instance : sensor_instance,
multiplier : multiplier,
multiplier : mult,
sample_count : sample_count,
sample_us : sample_us,
sample_rate_hz : sample_rate_hz,

6
libraries/DataFlash/DataFlash.h
View File

@ -210,6 +210,8 @@ public:
} _params;
const struct LogStructure *structure(uint16_t num) const;
const struct UnitStructure *unit(uint16_t num) const;
const struct MultiplierStructure *multiplier(uint16_t num) const;
// methods for mavlink SYS_STATUS message (send_extended_status1)
// these methods cover only the first logging backend used -
@ -231,6 +233,10 @@ protected:
const struct LogStructure *_structures;
uint8_t _num_types;
const struct UnitStructure *_units = log_Units;
const struct MultiplierStructure *_multipliers = log_Multipliers;
const uint8_t _num_units = (sizeof(log_Units) / sizeof(log_Units[0]));
const uint8_t _num_multipliers = (sizeof(log_Multipliers) / sizeof(log_Multipliers[0]));
/* Write a block with specified importance */
/* might be useful if you have a boolean indicating a message is

25
libraries/DataFlash/DataFlash_Backend.cpp
View File

@ -22,6 +22,26 @@ const struct LogStructure *DataFlash_Backend::structure(uint8_t num) const
return _front.structure(num);
}
uint8_t DataFlash_Backend::num_units() const
{
return _front._num_units;
}
const struct UnitStructure *DataFlash_Backend::unit(uint8_t num) const
{
return _front.unit(num);
}
uint8_t DataFlash_Backend::num_multipliers() const
{
return _front._num_multipliers;
}
const struct MultiplierStructure *DataFlash_Backend::multiplier(uint8_t num) const
{
return _front.multiplier(num);
}
DataFlash_Backend::vehicle_startup_message_Log_Writer DataFlash_Backend::vehicle_message_writer() {
return _front._vehicle_messages;
}
@ -132,6 +152,8 @@ bool DataFlash_Backend::Log_Write_Emit_FMT(uint8_t msg_type)
0,
"IGNO",
"",
"",
"",
""
};
if (!_front.fill_log_write_logstructure(logstruct, msg_type)) {
@ -145,6 +167,9 @@ bool DataFlash_Backend::Log_Write_Emit_FMT(uint8_t msg_type)
if (!Log_Write_Format(&logstruct)) {
return false;
}
if (!Log_Write_Format_Units(&logstruct)) {
return false;
}
return true;
}

12
libraries/DataFlash/DataFlash_Backend.h
View File

@ -72,6 +72,7 @@ public:
virtual void stop_logging(void) = 0;
void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
void Log_Fill_Format_Units(const struct LogStructure *s, struct log_Format_Units &pkt);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
// currently only DataFlash_File support this:
@ -88,6 +89,12 @@ public:
uint8_t num_types() const;
const struct LogStructure *structure(uint8_t structure) const;
uint8_t num_units() const;
const struct UnitStructure *unit(uint8_t unit) const;
uint8_t num_multipliers() const;
const struct MultiplierStructure *multiplier(uint8_t multiplier) const;
void Log_Write_EntireMission(const AP_Mission &mission);
bool Log_Write_Format(const struct LogStructure *structure);
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
@ -121,6 +128,11 @@ public:
virtual void vehicle_was_disarmed() { };
bool Log_Write_Unit(const struct UnitStructure *s);
bool Log_Write_Multiplier(const struct MultiplierStructure *s);
bool Log_Write_Format_Units(const struct LogStructure *structure);
protected:
DataFlash_Class &_front;

56
libraries/DataFlash/LogFile.cpp
View File

@ -207,6 +207,21 @@ void DataFlash_Backend::Log_Fill_Format(const struct LogStructure *s, struct log
strncpy(pkt.labels, s->labels, sizeof(pkt.labels));
}
/*
Pack a LogStructure packet into a structure suitable to go to the logfile:
*/
void DataFlash_Backend::Log_Fill_Format_Units(const struct LogStructure *s, struct log_Format_Units &pkt)
{
memset(&pkt, 0, sizeof(pkt));
pkt.head1 = HEAD_BYTE1;
pkt.head2 = HEAD_BYTE2;
pkt.msgid = LOG_FORMAT_UNITS_MSG;
pkt.time_us = AP_HAL::micros64();
pkt.format_type = s->msg_type;
strncpy(pkt.units, s->units, sizeof(pkt.units));
strncpy(pkt.multipliers, s->multipliers, sizeof(pkt.multipliers));
}
/*
write a structure format to the log
*/
@ -217,6 +232,47 @@ bool DataFlash_Backend::Log_Write_Format(const struct LogStructure *s)
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
/*
write a unit definition
*/
bool DataFlash_Backend::Log_Write_Unit(const struct UnitStructure *s)
{
struct log_Unit pkt = {
LOG_PACKET_HEADER_INIT(LOG_UNIT_MSG),
time_us : AP_HAL::micros64(),
type : s->ID,
unit : { }
};
strncpy(pkt.unit, s->unit, sizeof(pkt.unit));
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
/*
write a unit-multiplier definition
*/
bool DataFlash_Backend::Log_Write_Multiplier(const struct MultiplierStructure *s)
{
struct log_Format_Multiplier pkt = {
LOG_PACKET_HEADER_INIT(LOG_MULT_MSG),
time_us : AP_HAL::micros64(),
type : s->ID,
multiplier : s->multiplier,
};
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
/*
write the units for a format to the log
*/
bool DataFlash_Backend::Log_Write_Format_Units(const struct LogStructure *s)
{
struct log_Format_Units pkt;
Log_Fill_Format_Units(s, pkt);
return WriteCriticalBlock(&pkt, sizeof(pkt));
}
/*
write a parameter to the log
*/

368
libraries/DataFlash/LogStructure.h
View File

@ -20,6 +20,8 @@ struct LogStructure {
const char name[5];
const char format[16];
const char labels[64];
const char units[16];
const char multipliers[16];
};
/*
@ -34,6 +36,95 @@ struct PACKED log_Format {
char labels[64];
};
struct PACKED log_Unit {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
char unit[64]; // you know, this might be overkill...
};
struct PACKED log_Format_Multiplier {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
double multiplier;
};
struct PACKED log_Format_Units {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t format_type;
char units[16];
char multipliers[16];
};
struct UnitStructure {
const char ID;
const char unit[64];
};
struct MultiplierStructure {
const char ID;
const double multiplier;
};
// all units here should be base units
// This does mean battery capacity is here as "amp*second"
const struct UnitStructure log_Units[] = {
{ '-', "" }, // no units e.g. Pi, or a string
{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
{ 'A', "amp" },
{ 'd', "degrees" }, // of the angular variety, -180 to 180
{ 'D', "deglatitude" },
{ 'b', "bytes" },
{ 'k', "degrees/second" },
{ 'e', "degrees/second/second" },
{ 'E', "radians/second" },
{ 'G', "gauss" },
{ 'h', "degheading" }, // 0.? to 359.?
{ 'i', "amp*seconds" },
// { 'l', "litres" },
{ 'L', "radians/second/second" },
{ 'm', "metres" },
{ 'n', "metres/second" },
// { 'N', "Newton" },
{ 'o', "metres/second/second" },
{ 'O', "degcelsius" },
{ 'S', "satellites" },
{ 's', "seconds" },
{ 'q', "rpm" },
{ 'r', "radians" },
{ 'u', "pulses/minute" }, // i.e. ppm
{ 'U', "deglongitude" },
{ 'v', "volt" },
{ 'P', "pascal" },
{ 'w', "ohm" },
{ 'z', "hertz" }
};
// this multiplier information applies to the raw value present in the
// log. Any adjustment implied by the format field (e.g. the "centi"
// in "centidegrees" is *IGNORED* for the purposes of scaling.
// Essentially "format" simply tells you the C-type, and format-type h
// (int16_t) is equivalent to format-type c (int16_t*100)
// tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name
const struct MultiplierStructure log_Multipliers[] = {
// <leave a gap here, just in case....>
{ '2', 1e2 },
{ '1', 1e1 },
{ '0', 1e0 },
{ 'A', 1e-1 },
{ 'B', 1e-2 },
{ 'C', 1e-3 },
{ 'D', 1e-4 },
{ 'E', 1e-5 },
{ 'F', 1e-6 },
{ 'G', 1e-7 },
// <leave a gap here, just in case....>
{ '!', 3.6 }, // (amps*seconds => milliamps*hours) and (km/h => m/s)
};
struct PACKED log_Parameter {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -943,52 +1034,86 @@ struct PACKED log_DSTL {
// #endif // SBP_HW_LOGGING
// FMT messages define all message formats other than FMT
// UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
#define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
#define ACC_FMT "QQfff"
#define ACC_FMT "QQfff"
#define ACC_UNITS "ssnnn"
#define ACC_MULTS "FF000"
// see "struct sensor" in AP_Baro.h and "Log_Write_Baro":
#define BARO_LABELS "TimeUS,Alt,Press,Temp,CRt,SMS,Offset,GndTemp"
#define BARO_FMT "QffcfIff"
#define BARO_UNITS "smPOnsmO"
#define BARO_MULTS "F00B0C?0"
#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp"
#define ESC_FMT "Qcccc"
#define ESC_UNITS "sqvAO"
#define ESC_MULTS "FBBBB"
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCBIH"
#define GPA_UNITS "smmmn-ss"
#define GPA_MULTS "FBBBB-CF"
// see "struct GPS_State" and "Log_Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U"
#define GPS_FMT "QBIHBcLLefffB"
#define GPS_UNITS "s---SmDUmnhn-"
#define GPS_MULTS "F---0BGGBBB0-"
#define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ"
#define GYR_FMT "QQfff"
#define GYR_UNITS "ssEEE"
#define GYR_MULTS "FF000"
#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
#define IMT_FMT "Qfffffffff"
#define IMT_UNITS "ssssrrrnnn"
#define IMT_MULTS "FF00000000"
#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT "QHBBHHQf"
#define ISBH_UNITS "s-----sz"
#define ISBH_MULTS "F-----F-"
#define ISBD_LABELS "TimeUS,N,seqno,x,y,z"
#define ISBD_FMT "QHHaaa"
#define ISBD_UNITS "s--ooo"
#define ISBD_MULTS "F--???"
#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz"
#define IMU_FMT "QffffffIIfBBHH"
#define IMU_UNITS "sEEEooo--O--zz"
#define IMU_MULTS "F000000-----00"
#define MAG_LABELS "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
#define MAG_FMT "QhhhhhhhhhBI"
#define MAG_UNITS "sGGGGGGGGG-s"
#define MAG_MULTS "FCCCCCCCCC-F"
#define PID_LABELS "TimeUS,Des,P,I,D,FF,AFF"
#define PID_FMT "Qffffff"
#define PID_UNITS "s------"
#define PID_MULTS "F------"
#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT "Qffff"
#define QUAT_UNITS "s????"
#define QUAT_MULTS "F????"
#define CURR_LABELS "TimeUS,Volt,VoltR,Curr,CurrTot,Temp,Res"
#define CURR_FMT "Qffffcf"
#define CURR_UNITS "sv?A?Ow"
#define CURR_MULTS "F??????"
#define CURR_CELL_LABELS "TimeUS,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10"
#define CURR_CELL_FMT "QfHHHHHHHHHH"
#define CURR_CELL_UNITS "svvvvvvvvvvv"
#define CURR_CELL_MULTS "F00000000000"
/*
Format characters in the format string for binary log messages
@ -1017,239 +1142,245 @@ Format characters in the format string for binary log messages
// messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns", "-b---", "-----" }, \
{ LOG_UNIT_MSG, sizeof(log_Unit), \
"UNIT", "QbZ", "TimeUS,Id,Label", "s--","F--" }, \
{ LOG_FORMAT_UNITS_MSG, sizeof(log_Format_Units), \
"FMTU", "QBNN", "TimeUS,FmtType,UnitIds,MultIds","s---", "F---" }, \
{ LOG_MULT_MSG, sizeof(log_Format_Multiplier), \
"MULT", "Qbd", "TimeUS,Id,Mult", "s--","F--" }, \
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value" }, \
"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", GPS_FMT, GPS_LABELS }, \
"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", GPS_FMT, GPS_LABELS }, \
"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPSB_MSG, sizeof(log_GPS), \
"GPSB", GPS_FMT, GPS_LABELS }, \
"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", GPA_FMT, GPA_LABELS }, \
"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \
"GPA2", GPA_FMT, GPA_LABELS }, \
"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPAB_MSG, sizeof(log_GPA), \
"GPAB", GPA_FMT, GPA_LABELS }, \
"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", IMU_FMT, IMU_LABELS }, \
"IMU", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "QZ", "TimeUS,Message"}, \
"MSG", "QZ", "TimeUS,Message", "s-", "F-"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "suuuuuuuuuuuuuu", "F--------------" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "suuuuuuuuuuuuuu", "F--------------" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qf", "TimeUS,RXRSSI" }, \
"RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", BARO_FMT, BARO_LABELS }, \
"BARO", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffH","TimeUS,Vcc,VServo,Flags" }, \
"POWR","QffH","TimeUS,Vcc,VServo,Flags", "svv-", "FBB-" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
"CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt", "s-------DUm", "F-------GG0" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw" }, \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw" }, \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
"ARSP", "QffcffB", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U" }, \
"ARSP", "QffcffB", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U", "snPOPP-", "F00B00-" }, \
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"BAT", CURR_FMT,CURR_LABELS }, \
"BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT2_MSG, sizeof(log_Current), \
"BAT2", CURR_FMT,CURR_LABELS }, \
"BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
"BCL", CURR_CELL_FMT, CURR_CELL_LABELS }, \
"BCL", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS2_MSG, sizeof(log_Current_Cells), \
"BCL2", CURR_CELL_FMT, CURR_CELL_LABELS }, \
"BCL2", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", MAG_FMT, MAG_LABELS }, \
"MAG", MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2" }, \
"RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2", "sm-m-", "FB-B-" }, \
{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" }, \
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "F--------------" }, \
{ LOG_BEACON_MSG, sizeof(log_Beacon), \
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, \
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--BBBBBBB" }, \
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" }, \
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D" }
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }
// messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", IMU_FMT, IMU_LABELS }, \
"IMU2", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \
"IMU3", IMU_FMT, IMU_LABELS }, \
"IMU3", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4" }, \
"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBBBGG????" }, \
{ LOG_POS_MSG, sizeof(log_POS), \
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt" }, \
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGGBBB" }, \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4" }, \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
{ LOG_NKF1_MSG, sizeof(log_EKF1), \
"NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH" }, \
"NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_NKF2_MSG, sizeof(log_NKF2), \
"NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
"NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
"NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_NKF5_MSG, sizeof(log_NKF5), \
"NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos" }, \
"NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_NKF6_MSG, sizeof(log_EKF1), \
"NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH" }, \
"NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_NKF7_MSG, sizeof(log_NKF2), \
"NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
"NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF8_MSG, sizeof(log_NKF3), \
"NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
"NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_NKF9_MSG, sizeof(log_NKF4), \
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
"NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD" }, \
{ LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS }, \
{ LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS }, \
"NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
"XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH" }, \
"XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_XKF2_MSG, sizeof(log_NKF2a), \
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_XKF5_MSG, sizeof(log_NKF5), \
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos" }, \
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_XKF6_MSG, sizeof(log_EKF1), \
"XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH" }, \
"XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_XKF7_MSG, sizeof(log_NKF2a), \
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF8_MSG, sizeof(log_NKF3), \
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_XKF9_MSG, sizeof(log_NKF4), \
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
"XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD" }, \
{ LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS }, \
{ LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS }, \
"XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
"XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ" }, \
"XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
{ LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
"XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11" }, \
"XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s------------", "F------------" }, \
{ LOG_XKV2_MSG, sizeof(log_ekfStateVar), \
"XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23" }, \
"XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s------------", "F------------" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config" }, \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ" }, \
"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS2_UBX1_MSG, sizeof(log_Ubx1), \
"UBY1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config" }, \
"UBY1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS2_UBX2_MSG, sizeof(log_Ubx2), \
"UBY2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ" }, \
"UBY2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli" }, \
"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" }, \
{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat" }, \
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk" }, \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
{ LOG_GPS_SBF_EVENT_MSG, sizeof(log_GPS_SBF_EVENT), \
"SBFE", "QIHBBdddfffff", "TimeUS,TOW,WN,Mode,Err,Lat,Lng,Height,Undul,Vn,Ve,Vu,COG" }, \
"SBFE", "QIHBBdddfffff", "TimeUS,TOW,WN,Mode,Err,Lat,Lng,Height,Undul,Vn,Ve,Vu,COG", "s----DUm-nnnh", "F----000-0000" }, \
{ LOG_ESC1_MSG, sizeof(log_Esc), \
"ESC1", ESC_FMT, ESC_LABELS }, \
"ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC2_MSG, sizeof(log_Esc), \
"ESC2", ESC_FMT, ESC_LABELS }, \
"ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC3_MSG, sizeof(log_Esc), \
"ESC3", ESC_FMT, ESC_LABELS }, \
"ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC4_MSG, sizeof(log_Esc), \
"ESC4", ESC_FMT, ESC_LABELS }, \
"ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC5_MSG, sizeof(log_Esc), \
"ESC5", ESC_FMT, ESC_LABELS }, \
"ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC6_MSG, sizeof(log_Esc), \
"ESC6", ESC_FMT, ESC_LABELS }, \
"ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC7_MSG, sizeof(log_Esc), \
"ESC7", ESC_FMT, ESC_LABELS }, \
"ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", ESC_FMT, ESC_LABELS }, \
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2",MAG_FMT, MAG_LABELS }, \
"MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3",MAG_FMT, MAG_LABELS }, \
"MAG3",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
"ACC1", ACC_FMT, ACC_LABELS }, \
"ACC1", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
"ACC2", ACC_FMT, ACC_LABELS }, \
"ACC2", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
"ACC3", ACC_FMT, ACC_LABELS }, \
"ACC3", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
"GYR1", GYR_FMT, GYR_LABELS }, \
"GYR1", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
"GYR2", GYR_FMT, GYR_LABELS }, \
"GYR2", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
"GYR3", GYR_FMT, GYR_LABELS }, \
"GYR3", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_PIDR_MSG, sizeof(log_PID), \
"PIDR", PID_FMT, PID_LABELS }, \
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDP_MSG, sizeof(log_PID), \
"PIDP", PID_FMT, PID_LABELS }, \
"PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDY_MSG, sizeof(log_PID), \
"PIDY", PID_FMT, PID_LABELS }, \
"PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDA_MSG, sizeof(log_PID), \
"PIDA", PID_FMT, PID_LABELS }, \
"PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDS_MSG, sizeof(log_PID), \
"PIDS", PID_FMT, PID_LABELS }, \
"PIDS", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_DSTL_MSG, sizeof(log_DSTL), \
"DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D" }, \
"DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \
{ LOG_BAR2_MSG, sizeof(log_BARO), \
"BAR2", BARO_FMT, BARO_LABELS }, \
"BAR2", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_BAR3_MSG, sizeof(log_BARO), \
"BAR3", BARO_FMT, BARO_LABELS }, \
"BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
"IMT",IMT_FMT,IMT_LABELS }, \
"IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
"IMT2",IMT_FMT,IMT_LABELS }, \
"IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
"IMT3",IMT_FMT,IMT_LABELS }, \
"IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_ISBH_MSG, sizeof(log_ISBH), \
"ISBH",ISBH_FMT,ISBH_LABELS }, \
"ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \
{ LOG_ISBD_MSG, sizeof(log_ISBD), \
"ISBD",ISBD_FMT,ISBD_LABELS }, \
"ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" }, \
{ LOG_DF_FILE_STATS, sizeof(log_DSF), \
"DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv" }, \
"DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv", "s---b---", "F---0---" }, \
{ LOG_RPM_MSG, sizeof(log_RPM), \
"RPM", "Qff", "TimeUS,rpm1,rpm2" }, \
"RPM", "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \
{ LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz" }, \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \
{ LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz" }, \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \
{ LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd" }, \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \
{ LOG_RATE_MSG, sizeof(log_Rate), \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut" }, \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \
{ LOG_RALLY_MSG, sizeof(log_Rally), \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt" }, \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf" }
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }
// #if SBP_HW_LOGGING
#define LOG_SBP_STRUCTURES \
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp" }, \
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" }, \
{ LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6" }, \
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" }, \
{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13" }, \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality" }
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
// #endif
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
@ -1358,6 +1489,9 @@ enum LogMessages {
LOG_XKV1_MSG,
LOG_XKV2_MSG,
LOG_DF_MAV_STATS,
LOG_FORMAT_UNITS_MSG,
LOG_UNIT_MSG,
LOG_MULT_MSG,
LOG_MSG_SBPHEALTH,
LOG_MSG_SBPLLH,