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DataFlash: added GRAW raw GPS message

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for saving RXM_RAW for post flight RTK
This commit is contained in:
Andrew Tridgell 2015-05-04 18:17:42 +10:00
parent 42c6801d61
commit f8e09da50e
1 changed files with 19 additions and 1 deletions
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20
libraries/DataFlash/DataFlash.h
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@ -483,6 +483,21 @@ struct PACKED log_Ubx3 {
float sAcc; float sAcc;
}; };
struct PACKED log_GPS_RAW {
LOG_PACKET_HEADER;
uint32_t timestamp;
int32_t iTOW;
int16_t week;
uint8_t numSV;
uint8_t sv;
double cpMes;
double prMes;
float doMes;
int8_t mesQI;
int8_t cno;
uint8_t lli;
};
struct PACKED log_Esc { struct PACKED log_Esc {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint32_t time_ms; uint32_t time_ms;
@ -529,7 +544,7 @@ Format characters in the format string for binary log messages
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \ { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "Nf", "Name,Value" }, \ "PARM", "Nf", "Name,Value" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \ { LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \ "GPS", "BIHBcLLeeEefI", "Status,TimeMS,Week,numSV,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \ { LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "IffffffIIf", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp" }, \ "IMU", "IffffffIIf", "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \ { LOG_MESSAGE_MSG, sizeof(log_Message), \
@ -589,6 +604,8 @@ Format characters in the format string for binary log messages
"UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }, \ "UBX2", "IBbBbB", "TimeMS,Instance,ofsI,magI,ofsQ,magQ" }, \
{ LOG_UBX3_MSG, sizeof(log_Ubx3), \ { LOG_UBX3_MSG, sizeof(log_Ubx3), \
"UBX3", "IBfff", "TimeMS,Instance,hAcc,vAcc,sAcc" }, \ "UBX3", "IBfff", "TimeMS,Instance,hAcc,vAcc,sAcc" }, \
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
"GRAW", "IIHbbddfBbB", "TimeMS,WkMS,Week,NSats,sv,cpMes,prMes,doMes,mesQI,cno,lli" }, \
{ LOG_ESC1_MSG, sizeof(log_Esc), \ { LOG_ESC1_MSG, sizeof(log_Esc), \
"ESC1", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \ "ESC1", "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
{ LOG_ESC2_MSG, sizeof(log_Esc), \ { LOG_ESC2_MSG, sizeof(log_Esc), \
@ -664,6 +681,7 @@ Format characters in the format string for binary log messages
#define LOG_COMPASS2_MSG 168 #define LOG_COMPASS2_MSG 168
#define LOG_COMPASS3_MSG 169 #define LOG_COMPASS3_MSG 169
#define LOG_MODE_MSG 170 #define LOG_MODE_MSG 170
#define LOG_GPS_RAW_MSG 171
// message types 200 to 210 reversed for GPS driver use // message types 200 to 210 reversed for GPS driver use
// message types 211 to 220 reversed for autotune use // message types 211 to 220 reversed for autotune use