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AP_Logger: add video stab log structure

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Iampete1 2021-12-15 19:00:05 +00:00 committed by Andrew Tridgell
parent cc5a867397
commit cee0503812
2 changed files with 34 additions and 1 deletions
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34
libraries/AP_AHRS/LogStructure.h
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@ -139,6 +139,35 @@ struct PACKED log_Rate {
float accel_out; float accel_out;
}; };
// @LoggerMessage: VSTB
// @Description: Log message for video stabilisation software such as Gyroflow
// @Field: TimeUS: Time since system startup
// @Field: GyrX: measured rotation rate about X axis
// @Field: GyrY: measured rotation rate about Y axis
// @Field: GyrZ: measured rotation rate about Z axis
// @Field: AccX: acceleration along X axis
// @Field: AccY: acceleration along Y axis
// @Field: AccZ: acceleration along Z axis
// @Field: Q1: Estimated attitude quaternion component 1
// @Field: Q2: Estimated attitude quaternion component 2
// @Field: Q3: Estimated attitude quaternion component 3
// @Field: Q4: Estimated attitude quaternion component 4
struct PACKED log_Gyroflow {
LOG_PACKET_HEADER;
uint64_t time_us;
float gyro_x;
float gyro_y;
float gyro_z;
float accel_x;
float accel_y;
float accel_z;
float Q1;
float Q2;
float Q3;
float Q4;
};
#define LOG_STRUCTURE_FROM_AHRS \ #define LOG_STRUCTURE_FROM_AHRS \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \ { LOG_AHR2_MSG, sizeof(log_AHRS), \
@ -152,4 +181,7 @@ struct PACKED log_Rate {
{ LOG_POS_MSG, sizeof(log_POS), \ { LOG_POS_MSG, sizeof(log_POS), \
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \ "POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \
{ LOG_RATE_MSG, sizeof(log_Rate), \ { LOG_RATE_MSG, sizeof(log_Rate), \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" , true }, "RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" , true }, \
{ LOG_GYROFLOW_MSG, sizeof(log_Gyroflow), \
"VSTB", "Qffffffffff", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,Q1,Q2,Q3,Q4", "sEEEooo????", "F000000????" },

1
libraries/AP_Logger/LogStructure.h
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@ -1427,6 +1427,7 @@ enum LogMessages : uint8_t {
LOG_STAK_MSG, LOG_STAK_MSG,
LOG_FILE_MSG, LOG_FILE_MSG,
LOG_SCRIPTING_MSG, LOG_SCRIPTING_MSG,
LOG_VIDEO_STABILISATION_MSG,
_LOG_LAST_MSG_ _LOG_LAST_MSG_
}; };