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Plane: added logger documentation

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Rishabh 2020-03-27 21:12:00 +05:30 committed by Andrew Tridgell
parent d41275298b
commit aea2cdb0c9
1 changed files with 45 additions and 0 deletions
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45
ArduPlane/Log.cpp
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@ -286,10 +286,40 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: TAspd: target airspeed
{ LOG_NTUN_MSG, sizeof(log_Nav_Tuning),
"NTUN", "QfcccfffLLii", "TimeUS,Dist,TBrg,NavBrg,AltErr,XT,XTi,AspdE,TLat,TLng,TAlt,TAspd", "smddmmmnDUmn", "F0BBB0B0GGBB" },
// @LoggerMessage: SONR
// @Description: Sonar (downward facing rangefinder) related messages.
// @Field: TimeUS: Microseconds since system startup
// @Field: Dist: Distance as detected from the sensor
// @Field: Volt: Voltage at the sensor pin (only applicable for analog sensor)
// @Field: Cnt: Number of consecutive valid readings (maxes out at 10)
// @Field: Corr: Correction made to altitude reading from barometer reading
{ LOG_SONAR_MSG, sizeof(log_Sonar),
"SONR", "QffBf", "TimeUS,Dist,Volt,Cnt,Corr", "smv--", "FB0--" },
// @LoggerMessage: ATRP
// @Description: Pitch/Roll AutoTune messages for Plane
// @Field: TimeUS: Microseconds since system startup
// @Field: Type: Type of autotune (0 = Roll/ 1 = Pitch)
// @Field: State: AutoTune state
// @Field: Servo: Normalised control surface output (between -4500 to 4500)
// @Field: Demanded: Desired Pitch/Roll rate
// @Field: Achieved: Achieved Pitch/Roll rate
// @Field: P: Proportional part of PID
{ LOG_ATRP_MSG, sizeof(AP_AutoTune::log_ATRP),
"ATRP", "QBBcfff", "TimeUS,Type,State,Servo,Demanded,Achieved,P", "s---dd-", "F---00-" },
// @LoggerMessage: STAT
// @Description: Current status of the aircraft
// @Field: TimeUS: Microseconds since system startup
// @Field: isFlying: True if aircraft is probably flying
// @Field: isFlyProb: Probabilty that the aircraft is flying
// @Field: Armed: Arm status of the aircraft
// @Field: Safety: State of the safety switch
// @Field: Crash: True if crash is detected
// @Field: Still: True when vehicle is not moving in any axis
// @Field: Stage: Current stage of the flight
// @Field: Hit: True if impact is detected
{ LOG_STATUS_MSG, sizeof(log_Status),
"STAT", "QBfBBBBBB", "TimeUS,isFlying,isFlyProb,Armed,Safety,Crash,Still,Stage,Hit", "s--------", "F--------" },
@ -309,6 +339,12 @@ const struct LogStructure Plane::log_structure[] = {
// @Field: Sscl: speed scalar for surfaces
{ LOG_QTUN_MSG, sizeof(QuadPlane::log_QControl_Tuning),
"QTUN", "Qffffffeccff", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DCRt,CRt,TMix,Sscl", "s----mmmnn--", "F----00000-0" },
// @LoggerMessage: AOA
// @Description: Angle of attack and Side Slip Angle values
// @Field: TimeUS: Microseconds since system startup
// @Field: AOA: Angle of Attack calculated from airspeed, wind vector,velocity vector
// @Field: SSA: Side Slip Angle calculated from airspeed, wind vector,velocity vector
{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA),
"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" },
@ -330,6 +366,15 @@ const struct LogStructure Plane::log_structure[] = {
"PIQY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
{ LOG_PIQA_MSG, sizeof(log_PID),
"PIQA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS },
// @LoggerMessage: AETR
// @Description: Normalised pre-mixer control surface outputs
// @Field: TimeUS: Microseconds since system startup
// @Field: Ail: Pre-mixer value for aileron output (between -4500 to 4500)
// @Field: Elev: Pre-mixer value for elevator output (between -4500 to 4500)
// @Field: Thr: Pre-mixer value for throttle output (between -4500 to 4500)
// @Field: Rudd: Pre-mixer value for rudder output (between -4500 to 4500)
// @Field: Flap: Pre-mixer value for flaps output (between -4500 to 4500)
{ LOG_AETR_MSG, sizeof(log_AETR),
"AETR", "Qhhhhh", "TimeUS,Ail,Elev,Thr,Rudd,Flap", "s-----", "F-----" },
};