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AP_DAL: document more replay messages

This commit is contained in:
Peter Barker 2024-10-11 20:15:51 +11:00 committed by Andrew Tridgell
parent d8b109683a
commit e15f72ce58
1 changed files with 23 additions and 8 deletions
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31
libraries/AP_DAL/LogStructure.h
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@ -40,19 +40,24 @@
LOG_RWOH_MSG, \ LOG_RWOH_MSG, \
LOG_RBOH_MSG LOG_RBOH_MSG
// Replay Data Structures // @LoggerMessage: RFRH
// @Description: Replay FRame Header
struct log_RFRH { struct log_RFRH {
uint64_t time_us; uint64_t time_us;
uint32_t time_flying_ms; uint32_t time_flying_ms;
uint8_t _end; uint8_t _end;
}; };
// @LoggerMessage: RFRF
// @Description: Replay FRame data - Finished frame
struct log_RFRF { struct log_RFRF {
uint8_t frame_types; uint8_t frame_types;
uint8_t core_slow; uint8_t core_slow;
uint8_t _end; uint8_t _end;
}; };
// @LoggerMessage: RFRN
// @Description: Replay FRame - aNother frame header
struct log_RFRN { struct log_RFRN {
int32_t lat; int32_t lat;
int32_t lng; int32_t lng;
@ -73,7 +78,8 @@ struct log_RFRN {
uint8_t _end; uint8_t _end;
}; };
// Replay Data Structure - Inertial Sensor header // @LoggerMessage: RISH
// @Description: Replay Inertial Sensor header
struct log_RISH { struct log_RISH {
uint16_t loop_rate_hz; uint16_t loop_rate_hz;
uint8_t first_usable_gyro; uint8_t first_usable_gyro;
@ -84,7 +90,8 @@ struct log_RISH {
uint8_t _end; uint8_t _end;
}; };
// Replay Data Structure - Inertial Sensor instance data // @LoggerMessage: RISI
// @Description: Replay Inertial Sensor instance data
struct log_RISI { struct log_RISI {
Vector3f delta_velocity; Vector3f delta_velocity;
Vector3f delta_angle; Vector3f delta_angle;
@ -99,14 +106,14 @@ struct log_RISI {
}; };
// @LoggerMessage: REV2 // @LoggerMessage: REV2
// @Description: Replay Event // @Description: Replay Event (EKF2)
struct log_REV2 { struct log_REV2 {
uint8_t event; uint8_t event;
uint8_t _end; uint8_t _end;
}; };
// @LoggerMessage: RSO2 // @LoggerMessage: RSO2
// @Description: Replay Set Origin event // @Description: Replay Set Origin event (EKF2)
struct log_RSO2 { struct log_RSO2 {
int32_t lat; int32_t lat;
int32_t lng; int32_t lng;
@ -115,7 +122,7 @@ struct log_RSO2 {
}; };
// @LoggerMessage: RWA2 // @LoggerMessage: RWA2
// @Description: Replay set-default-airspeed event // @Description: Replay set-default-airspeed event (EKF2)
struct log_RWA2 { struct log_RWA2 {
float airspeed; float airspeed;
float uncertainty; float uncertainty;
@ -123,8 +130,14 @@ struct log_RWA2 {
}; };
// same structures for EKF3 // same structures for EKF3
// @LoggerMessage: REV3
// @Description: Replay Event (EKF3)
#define log_REV3 log_REV2 #define log_REV3 log_REV2
// @LoggerMessage: RSO3
// @Description: Replay Set Origin event (EKF3)
#define log_RSO3 log_RSO2 #define log_RSO3 log_RSO2
// @LoggerMessage: RWA3
// @Description: Replay set-default-airspeed event (EKF3)
#define log_RWA3 log_RWA2 #define log_RWA3 log_RWA2
// @LoggerMessage: REY3 // @LoggerMessage: REY3
@ -220,14 +233,16 @@ struct log_RGPJ {
uint8_t _end; uint8_t _end;
}; };
// Replay Data Structure - Airspeed Sensor header // @LoggerMessage: RASH
// @Description: Replay Airspeed Sensor Header
struct log_RASH { struct log_RASH {
uint8_t num_sensors; uint8_t num_sensors;
uint8_t primary; uint8_t primary;
uint8_t _end; uint8_t _end;
}; };
// Replay Data Structure - Airspeed Sensor instance // @LoggerMessage: RASI
// @Description: Replay Airspeed Sensor Instance data
struct log_RASI { struct log_RASI {
float airspeed; float airspeed;
uint32_t last_update_ms; uint32_t last_update_ms;