#pragma once /* unfortunately these need to be macros because of a limitation of named member structure initialisation in g++ */ #define LOG_PACKET_HEADER uint8_t head1, head2, msgid; #define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id #define LOG_PACKET_HEADER_LEN 3 // bytes required for LOG_PACKET_HEADER // once the logging code is all converted we will remove these from // this header #define HEAD_BYTE1 0xA3 // Decimal 163 #define HEAD_BYTE2 0x95 // Decimal 149 // structure used to define logging format struct LogStructure { uint8_t msg_type; uint8_t msg_len; const char *name; const char *format; const char *labels; const char *units; const char *multipliers; }; // maximum lengths of fields in LogStructure, including trailing nulls static const uint8_t LS_NAME_SIZE = 5; static const uint8_t LS_FORMAT_SIZE = 17; static const uint8_t LS_LABELS_SIZE = 65; static const uint8_t LS_UNITS_SIZE = 17; static const uint8_t LS_MULTIPLIERS_SIZE = 17; /* log structures common to all vehicle types */ struct PACKED log_Format { LOG_PACKET_HEADER; uint8_t type; uint8_t length; char name[4]; char format[16]; 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; }; 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" // Please keep the names consistent with Tools/autotest/param_metadata/param.py:33 const struct UnitStructure log_Units[] = { { '-', "" }, // no units e.g. Pi, or a string { '?', "UNKNOWN" }, // Units which haven't been worked out yet.... { 'A', "A" }, // Ampere { 'd', "deg" }, // of the angular variety, -180 to 180 { 'b', "B" }, // bytes { 'k', "deg/s" }, // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians { 'D', "deglatitude" }, // degrees of latitude { 'e', "deg/s/s" }, // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly than radians { 'E', "rad/s" }, // radians per second { 'G', "Gauss" }, // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here { 'h', "degheading" }, // 0.? to 359.? { 'i', "A.s" }, // Ampere second { 'J', "W.s" }, // Joule (Watt second) // { 'l', "l" }, // litres { 'L', "rad/s/s" }, // radians per second per second { 'm', "m" }, // metres { 'n', "m/s" }, // metres per second // { 'N', "N" }, // Newton { 'o', "m/s/s" }, // metres per second per second { 'O', "degC" }, // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users { '%', "%" }, // percent { 'S', "satellites" }, // number of satellites { 's', "s" }, // seconds { 'q', "rpm" }, // rounds per minute. Not SI, but sometimes more intuitive than Hertz { 'r', "rad" }, // radians { 'U', "deglongitude" }, // degrees of longitude { 'u', "ppm" }, // pulses per minute { 'U', "us" }, // pulse width modulation in microseconds { 'v', "V" }, // Volt { 'P', "Pa" }, // Pascal { 'w', "Ohm" }, // Ohm { 'z', "Hz" } // 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[] = { { '-', 0 }, // no multiplier e.g. a string { '?', 1 }, // multipliers which haven't been worked out yet.... // { '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 }, // { '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s) { '/', 3600 }, // (ampere*second => ampere*hour) }; struct PACKED log_Parameter { LOG_PACKET_HEADER; uint64_t time_us; char name[16]; float value; }; struct PACKED log_DSF { LOG_PACKET_HEADER; uint64_t time_us; uint32_t dropped; uint8_t internal_errors; uint16_t blocks; uint32_t bytes; uint32_t buf_space_min; uint32_t buf_space_max; uint32_t buf_space_avg; }; struct PACKED log_GPS { LOG_PACKET_HEADER; uint64_t time_us; uint8_t status; uint32_t gps_week_ms; uint16_t gps_week; uint8_t num_sats; uint16_t hdop; int32_t latitude; int32_t longitude; int32_t altitude; float ground_speed; float ground_course; float vel_z; uint8_t used; }; struct PACKED log_GPA { LOG_PACKET_HEADER; uint64_t time_us; uint16_t vdop; uint16_t hacc; uint16_t vacc; uint16_t sacc; uint8_t have_vv; uint32_t sample_ms; uint16_t delta_ms; }; struct PACKED log_Message { LOG_PACKET_HEADER; uint64_t time_us; char msg[64]; }; struct PACKED log_IMU { LOG_PACKET_HEADER; uint64_t time_us; float gyro_x, gyro_y, gyro_z; float accel_x, accel_y, accel_z; uint32_t gyro_error, accel_error; float temperature; uint8_t gyro_health, accel_health; uint16_t gyro_rate, accel_rate; }; struct PACKED log_IMUDT { LOG_PACKET_HEADER; uint64_t time_us; float delta_time, delta_vel_dt, delta_ang_dt; float delta_ang_x, delta_ang_y, delta_ang_z; float delta_vel_x, delta_vel_y, delta_vel_z; }; struct PACKED log_ISBH { LOG_PACKET_HEADER; uint64_t time_us; uint16_t seqno; uint8_t sensor_type; // e.g. GYRO or ACCEL uint8_t instance; uint16_t multiplier; uint16_t sample_count; uint64_t sample_us; float sample_rate_hz; }; static_assert(sizeof(log_ISBH) < 256, "log_ISBH is over-size"); struct PACKED log_ISBD { LOG_PACKET_HEADER; uint64_t time_us; uint16_t isb_seqno; uint16_t seqno; // seqno within isb_seqno int16_t x[32]; int16_t y[32]; int16_t z[32]; }; static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size"); struct PACKED log_Vibe { LOG_PACKET_HEADER; uint64_t time_us; float vibe_x, vibe_y, vibe_z; uint32_t clipping_0, clipping_1, clipping_2; }; struct PACKED log_Gimbal1 { LOG_PACKET_HEADER; uint32_t time_ms; float delta_time; float delta_angles_x; float delta_angles_y; float delta_angles_z; float delta_velocity_x; float delta_velocity_y; float delta_velocity_z; float joint_angles_x; float joint_angles_y; float joint_angles_z; }; struct PACKED log_Gimbal2 { LOG_PACKET_HEADER; uint32_t time_ms; uint8_t est_sta; float est_x; float est_y; float est_z; float rate_x; float rate_y; float rate_z; float target_x; float target_y; float target_z; }; struct PACKED log_Gimbal3 { LOG_PACKET_HEADER; uint32_t time_ms; int16_t rl_torque_cmd; int16_t el_torque_cmd; int16_t az_torque_cmd; }; struct PACKED log_RCIN { LOG_PACKET_HEADER; uint64_t time_us; uint16_t chan1; uint16_t chan2; uint16_t chan3; uint16_t chan4; uint16_t chan5; uint16_t chan6; uint16_t chan7; uint16_t chan8; uint16_t chan9; uint16_t chan10; uint16_t chan11; uint16_t chan12; uint16_t chan13; uint16_t chan14; }; struct PACKED log_RCOUT { LOG_PACKET_HEADER; uint64_t time_us; uint16_t chan1; uint16_t chan2; uint16_t chan3; uint16_t chan4; uint16_t chan5; uint16_t chan6; uint16_t chan7; uint16_t chan8; uint16_t chan9; uint16_t chan10; uint16_t chan11; uint16_t chan12; uint16_t chan13; uint16_t chan14; }; struct PACKED log_RSSI { LOG_PACKET_HEADER; uint64_t time_us; float RXRSSI; }; struct PACKED log_BARO { LOG_PACKET_HEADER; uint64_t time_us; float altitude; float pressure; int16_t temperature; float climbrate; uint32_t sample_time_ms; float drift_offset; float ground_temp; }; struct PACKED log_AHRS { LOG_PACKET_HEADER; uint64_t time_us; int16_t roll; int16_t pitch; uint16_t yaw; float alt; int32_t lat; int32_t lng; float q1, q2, q3, q4; }; struct PACKED log_POS { LOG_PACKET_HEADER; uint64_t time_us; int32_t lat; int32_t lng; float alt; float rel_home_alt; float rel_origin_alt; }; struct PACKED log_POWR { LOG_PACKET_HEADER; uint64_t time_us; float Vcc; float Vservo; uint16_t flags; uint8_t safety_and_arm; }; struct PACKED log_EKF1 { LOG_PACKET_HEADER; uint64_t time_us; int16_t roll; int16_t pitch; uint16_t yaw; float velN; float velE; float velD; float posD_dot; float posN; float posE; float posD; int16_t gyrX; int16_t gyrY; int16_t gyrZ; int32_t originHgt; }; struct PACKED log_EKF2 { LOG_PACKET_HEADER; uint64_t time_us; int8_t Ratio; int8_t AZ1bias; int8_t AZ2bias; int16_t windN; int16_t windE; int16_t magN; int16_t magE; int16_t magD; int16_t magX; int16_t magY; int16_t magZ; }; struct PACKED log_NKF2 { LOG_PACKET_HEADER; uint64_t time_us; int8_t AZbias; int16_t scaleX; int16_t scaleY; int16_t scaleZ; int16_t windN; int16_t windE; int16_t magN; int16_t magE; int16_t magD; int16_t magX; int16_t magY; int16_t magZ; uint8_t index; }; struct PACKED log_NKF2a { LOG_PACKET_HEADER; uint64_t time_us; int16_t accBiasX; int16_t accBiasY; int16_t accBiasZ; int16_t windN; int16_t windE; int16_t magN; int16_t magE; int16_t magD; int16_t magX; int16_t magY; int16_t magZ; uint8_t index; }; struct PACKED log_EKF3 { LOG_PACKET_HEADER; uint64_t time_us; int16_t innovVN; int16_t innovVE; int16_t innovVD; int16_t innovPN; int16_t innovPE; int16_t innovPD; int16_t innovMX; int16_t innovMY; int16_t innovMZ; int16_t innovVT; }; struct PACKED log_NKF3 { LOG_PACKET_HEADER; uint64_t time_us; int16_t innovVN; int16_t innovVE; int16_t innovVD; int16_t innovPN; int16_t innovPE; int16_t innovPD; int16_t innovMX; int16_t innovMY; int16_t innovMZ; int16_t innovYaw; int16_t innovVT; }; struct PACKED log_EKF4 { LOG_PACKET_HEADER; uint64_t time_us; int16_t sqrtvarV; int16_t sqrtvarP; int16_t sqrtvarH; int16_t sqrtvarMX; int16_t sqrtvarMY; int16_t sqrtvarMZ; int16_t sqrtvarVT; int8_t offsetNorth; int8_t offsetEast; uint16_t faults; uint8_t timeouts; uint16_t solution; uint16_t gps; }; struct PACKED log_NKF4 { LOG_PACKET_HEADER; uint64_t time_us; int16_t sqrtvarV; int16_t sqrtvarP; int16_t sqrtvarH; int16_t sqrtvarM; int16_t sqrtvarVT; float tiltErr; int8_t offsetNorth; int8_t offsetEast; uint16_t faults; uint8_t timeouts; uint16_t solution; uint16_t gps; int8_t primary; }; struct PACKED log_EKF5 { LOG_PACKET_HEADER; uint64_t time_us; uint8_t normInnov; int16_t FIX; int16_t FIY; int16_t AFI; int16_t HAGL; int16_t offset; int16_t RI; uint16_t meaRng; uint16_t errHAGL; }; struct PACKED log_NKF5 { LOG_PACKET_HEADER; uint64_t time_us; uint8_t normInnov; int16_t FIX; int16_t FIY; int16_t AFI; int16_t HAGL; int16_t offset; int16_t RI; uint16_t meaRng; uint16_t errHAGL; float angErr; float velErr; float posErr; }; struct PACKED log_Quaternion { LOG_PACKET_HEADER; uint64_t time_us; float q1; float q2; float q3; float q4; }; struct PACKED log_RngBcnDebug { LOG_PACKET_HEADER; uint64_t time_us; uint8_t ID; // beacon identifier int16_t rng; // beacon range (cm) int16_t innov; // beacon range innovation (cm) uint16_t sqrtInnovVar; // sqrt of beacon range innovation variance (cm) uint16_t testRatio; // beacon range innovation consistency test ratio *100 int16_t beaconPosN; // beacon north position (cm) int16_t beaconPosE; // beacon east position (cm) int16_t beaconPosD; // beacon down position (cm) int16_t offsetHigh; // high estimate of vertical position offset of beacons rel to EKF origin (cm) int16_t offsetLow; // low estimate of vertical position offset of beacons rel to EKF origin (cm) int16_t posN; // North position of receiver rel to EKF origin (cm) int16_t posE; // East position of receiver rel to EKF origin (cm) int16_t posD; // Down position of receiver rel to EKF origin (cm) }; // visual odometry sensor data struct PACKED log_VisualOdom { LOG_PACKET_HEADER; uint64_t time_us; float time_delta; float angle_delta_x; float angle_delta_y; float angle_delta_z; float position_delta_x; float position_delta_y; float position_delta_z; float confidence; }; struct PACKED log_ekfBodyOdomDebug { LOG_PACKET_HEADER; uint64_t time_us; float velInnovX; float velInnovY; float velInnovZ; float velInnovVarX; float velInnovVarY; float velInnovVarZ; }; struct PACKED log_ekfStateVar { LOG_PACKET_HEADER; uint64_t time_us; float v00; float v01; float v02; float v03; float v04; float v05; float v06; float v07; float v08; float v09; float v10; float v11; }; struct PACKED log_Cmd { LOG_PACKET_HEADER; uint64_t time_us; uint16_t command_total; uint16_t sequence; uint16_t command; float param1; float param2; float param3; float param4; float latitude; float longitude; float altitude; uint8_t frame; }; struct PACKED log_Radio { LOG_PACKET_HEADER; uint64_t time_us; uint8_t rssi; uint8_t remrssi; uint8_t txbuf; uint8_t noise; uint8_t remnoise; uint16_t rxerrors; uint16_t fixed; }; struct PACKED log_Camera { LOG_PACKET_HEADER; uint64_t time_us; uint32_t gps_time; uint16_t gps_week; int32_t latitude; int32_t longitude; int32_t altitude; int32_t altitude_rel; int32_t altitude_gps; int16_t roll; int16_t pitch; uint16_t yaw; }; struct PACKED log_Attitude { LOG_PACKET_HEADER; uint64_t time_us; int16_t control_roll; int16_t roll; int16_t control_pitch; int16_t pitch; uint16_t control_yaw; uint16_t yaw; uint16_t error_rp; uint16_t error_yaw; }; struct PACKED log_PID { LOG_PACKET_HEADER; uint64_t time_us; float desired; float actual; float P; float I; float D; float FF; }; struct PACKED log_Current { LOG_PACKET_HEADER; uint64_t time_us; float voltage; float voltage_resting; float current_amps; float current_total; float consumed_wh; int16_t temperature; // degrees C * 100 float resistance; }; struct PACKED log_Current_Cells { LOG_PACKET_HEADER; uint64_t time_us; float voltage; uint16_t cell_voltages[10]; }; struct PACKED log_Compass { LOG_PACKET_HEADER; uint64_t time_us; int16_t mag_x; int16_t mag_y; int16_t mag_z; int16_t offset_x; int16_t offset_y; int16_t offset_z; int16_t motor_offset_x; int16_t motor_offset_y; int16_t motor_offset_z; uint8_t health; uint32_t SUS; }; struct PACKED log_Mode { LOG_PACKET_HEADER; uint64_t time_us; uint8_t mode; uint8_t mode_num; uint8_t mode_reason; }; /* rangefinder - support for 4 sensors */ struct PACKED log_RFND { LOG_PACKET_HEADER; uint64_t time_us; uint16_t dist1; uint8_t orient1; uint16_t dist2; uint8_t orient2; }; /* terrain log structure */ struct PACKED log_TERRAIN { LOG_PACKET_HEADER; uint64_t time_us; uint8_t status; int32_t lat; int32_t lng; uint16_t spacing; float terrain_height; float current_height; uint16_t pending; uint16_t loaded; }; /* UBlox logging */ struct PACKED log_Ubx1 { LOG_PACKET_HEADER; uint64_t time_us; uint8_t instance; uint16_t noisePerMS; uint8_t jamInd; uint8_t aPower; uint16_t agcCnt; uint32_t config; }; struct PACKED log_Ubx2 { LOG_PACKET_HEADER; uint64_t time_us; uint8_t instance; int8_t ofsI; uint8_t magI; int8_t ofsQ; uint8_t magQ; }; struct PACKED log_GPS_RAW { LOG_PACKET_HEADER; uint64_t time_us; 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_GPS_RAWH { LOG_PACKET_HEADER; uint64_t time_us; double rcvTow; uint16_t week; int8_t leapS; uint8_t numMeas; uint8_t recStat; }; struct PACKED log_GPS_RAWS { LOG_PACKET_HEADER; uint64_t time_us; double prMes; double cpMes; float doMes; uint8_t gnssId; uint8_t svId; uint8_t freqId; uint16_t locktime; uint8_t cno; uint8_t prStdev; uint8_t cpStdev; uint8_t doStdev; uint8_t trkStat; }; struct PACKED log_GPS_SBF_EVENT { LOG_PACKET_HEADER; uint64_t time_us; uint32_t TOW; uint16_t WNc; uint8_t Mode; uint8_t Error; double Latitude; double Longitude; double Height; float Undulation; float Vn; float Ve; float Vu; float COG; }; struct PACKED log_Esc { LOG_PACKET_HEADER; uint64_t time_us; int32_t rpm; uint16_t voltage; uint16_t current; int16_t temperature; uint16_t current_tot; }; struct PACKED log_AIRSPEED { LOG_PACKET_HEADER; uint64_t time_us; float airspeed; float diffpressure; int16_t temperature; float rawpressure; float offset; bool use; bool healthy; uint8_t primary; }; struct PACKED log_ACCEL { LOG_PACKET_HEADER; uint64_t time_us; uint64_t sample_us; float AccX, AccY, AccZ; }; struct PACKED log_GYRO { LOG_PACKET_HEADER; uint64_t time_us; uint64_t sample_us; float GyrX, GyrY, GyrZ; }; struct PACKED log_DF_MAV_Stats { LOG_PACKET_HEADER; uint32_t timestamp; uint32_t seqno; uint32_t dropped; uint32_t retries; uint32_t resends; uint8_t internal_errors; // uint8_t - wishful thinking? uint8_t state_free_avg; uint8_t state_free_min; uint8_t state_free_max; uint8_t state_pending_avg; uint8_t state_pending_min; uint8_t state_pending_max; uint8_t state_sent_avg; uint8_t state_sent_min; uint8_t state_sent_max; // uint8_t state_retry_avg; // uint8_t state_retry_min; // uint8_t state_retry_max; }; struct PACKED log_ORGN { LOG_PACKET_HEADER; uint64_t time_us; uint8_t origin_type; int32_t latitude; int32_t longitude; int32_t altitude; }; struct PACKED log_RPM { LOG_PACKET_HEADER; uint64_t time_us; float rpm1; float rpm2; }; struct PACKED log_Rate { LOG_PACKET_HEADER; uint64_t time_us; float control_roll; float roll; float roll_out; float control_pitch; float pitch; float pitch_out; float control_yaw; float yaw; float yaw_out; float control_accel; float accel; float accel_out; }; // #if SBP_HW_LOGGING struct PACKED log_SbpLLH { LOG_PACKET_HEADER; uint64_t time_us; uint32_t tow; int32_t lat; int32_t lon; int32_t alt; uint8_t n_sats; uint8_t flags; }; struct PACKED log_SbpHealth { LOG_PACKET_HEADER; uint64_t time_us; uint32_t crc_error_counter; uint32_t last_injected_data_ms; uint32_t last_iar_num_hypotheses; }; struct PACKED log_SbpRAWH { LOG_PACKET_HEADER; uint64_t time_us; uint16_t msg_type; uint16_t sender_id; uint8_t index; uint8_t pages; uint8_t msg_len; uint8_t res; uint8_t data[48]; }; struct PACKED log_SbpRAWM { LOG_PACKET_HEADER; uint64_t time_us; uint16_t msg_type; uint16_t sender_id; uint8_t index; uint8_t pages; uint8_t msg_len; uint8_t res; uint8_t data[104]; }; struct PACKED log_SbpEvent { LOG_PACKET_HEADER; uint64_t time_us; uint16_t wn; uint32_t tow; int32_t ns_residual; uint8_t level; uint8_t quality; }; struct PACKED log_Rally { LOG_PACKET_HEADER; uint64_t time_us; uint8_t total; uint8_t sequence; int32_t latitude; int32_t longitude; int16_t altitude; }; struct PACKED log_AOA_SSA { LOG_PACKET_HEADER; uint64_t time_us; float AOA; float SSA; }; struct PACKED log_Beacon { LOG_PACKET_HEADER; uint64_t time_us; uint8_t health; uint8_t count; float dist0; float dist1; float dist2; float dist3; float posx; float posy; float posz; }; // proximity sensor logging struct PACKED log_Proximity { LOG_PACKET_HEADER; uint64_t time_us; uint8_t health; float dist0; float dist45; float dist90; float dist135; float dist180; float dist225; float dist270; float dist315; float distup; float closest_angle; float closest_dist; }; struct PACKED log_Performance { LOG_PACKET_HEADER; uint64_t time_us; uint16_t num_long_running; uint16_t num_loops; uint32_t max_time; uint32_t mem_avail; uint16_t load; }; struct PACKED log_SRTL { LOG_PACKET_HEADER; uint64_t time_us; uint8_t active; uint16_t num_points; uint16_t max_points; uint8_t action; float N; float E; float D; }; struct PACKED log_DSTL { LOG_PACKET_HEADER; uint64_t time_us; uint8_t stage; float target_heading; int32_t target_lat; int32_t target_lng; int32_t target_alt; int16_t crosstrack_error; int16_t travel_distance; float l1_i; int32_t loiter_sum_cd; float desired; float P; float I; float D; }; // #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_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,CTot" #define ESC_FMT "QeCCcH" #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---0BGGB000-" #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,Act,P,I,D,FF" #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,EnrgTot,Temp,Res" #define CURR_FMT "Qfffffcf" #define CURR_UNITS "svvA?JOw" #define CURR_MULTS "F000?/?0" #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" #define ARSP_LABELS "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U,Health,Primary" #define ARSP_FMT "QffcffBBB" #define ARSP_UNITS "snPOPP---" #define ARSP_MULTS "F00B00---" /* Format characters in the format string for binary log messages a : int16_t[32] b : int8_t B : uint8_t h : int16_t H : uint16_t i : int32_t I : uint32_t f : float d : double n : char[4] N : char[16] Z : char[64] c : int16_t * 100 C : uint16_t * 100 e : int32_t * 100 E : uint32_t * 100 L : int32_t latitude/longitude M : uint8_t flight mode q : int64_t Q : uint64_t */ // messages for all boards #define LOG_BASE_STRUCTURES \ { LOG_FORMAT_MSG, sizeof(log_Format), \ "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", "s--", "F--" }, \ { LOG_GPS_MSG, sizeof(log_GPS), \ "GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \ { LOG_GPS2_MSG, sizeof(log_GPS), \ "GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \ { LOG_GPSB_MSG, sizeof(log_GPS), \ "GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \ { LOG_GPA_MSG, sizeof(log_GPA), \ "GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \ { LOG_GPA2_MSG, sizeof(log_GPA), \ "GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \ { LOG_GPAB_MSG, sizeof(log_GPA), \ "GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \ { LOG_IMU_MSG, sizeof(log_IMU), \ "IMU", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \ { LOG_MESSAGE_MSG, sizeof(log_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", "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", "sUUUUUUUUUUUUUU", "F--------------" }, \ { LOG_RSSI_MSG, sizeof(log_RSSI), \ "RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \ { LOG_BARO_MSG, sizeof(log_BARO), \ "BARO", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \ { LOG_POWR_MSG, sizeof(log_POWR), \ "POWR","QffHB","TimeUS,Vcc,VServo,Flags,Safety", "svv--", "F00--" }, \ { LOG_CMD_MSG, sizeof(log_Cmd), \ "CMD", "QHHHfffffffB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \ { LOG_RADIO_MSG, sizeof(log_Radio), \ "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", "s--DUmmmddd", "F--GGBBBBBB" }, \ { LOG_TRIGGER_MSG, sizeof(log_Camera), \ "TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \ { LOG_ARSP_MSG, sizeof(log_AIRSPEED), "ARSP", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \ { LOG_ASP2_MSG, sizeof(log_AIRSPEED), "ASP2", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \ { LOG_CURRENT_MSG, sizeof(log_Current), \ "BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \ { LOG_CURRENT2_MSG, sizeof(log_Current), \ "BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \ { LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \ "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, CURR_CELL_UNITS, CURR_CELL_MULTS }, \ { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\ "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_UNITS, MAG_MULTS }, \ { LOG_MODE_MSG, sizeof(log_Mode), \ "MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \ { LOG_RFND_MSG, sizeof(log_RFND), \ "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", "s--------------", "C--------------" }, \ { LOG_BEACON_MSG, sizeof(log_Beacon), \ "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", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \ { LOG_PERFORMANCE_MSG, sizeof(log_Performance), \ "PM", "QHHIIH", "TimeUS,NLon,NLoop,MaxT,Mem,Load", "s---b%", "F---0A" }, \ { LOG_SRTL_MSG, sizeof(log_SRTL), \ "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, IMU_UNITS, IMU_MULTS }, \ { LOG_IMU3_MSG, sizeof(log_IMU), \ "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","sddhmDU????", "FBBB0GG????" }, \ { LOG_POS_MSG, sizeof(log_POS), \ "POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" }, \ { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \ "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", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \ { LOG_NKF2_MSG, sizeof(log_NKF2), \ "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", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \ { LOG_NKF4_MSG, sizeof(log_NKF4), \ "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", "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", "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", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \ { LOG_NKF8_MSG, sizeof(log_NKF3), \ "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", "s-----???-----", "F-----???-----" }, \ { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \ "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", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \ { LOG_XKF2_MSG, sizeof(log_NKF2a), \ "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", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \ { LOG_XKF4_MSG, sizeof(log_NKF4), \ "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", "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", "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", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \ { LOG_XKF8_MSG, sizeof(log_NKF3), \ "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", "s-----???-----", "F-----???-----" }, \ { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \ "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", "s------", "F------" }, \ { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \ "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", "s------------", "F------------" }, \ { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \ "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", "s------", "F------" }, \ { LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \ "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", "s------", "F------" }, \ { LOG_GPS2_UBX2_MSG, sizeof(log_Ubx2), \ "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", "s--S-------", "F--0-------" }, \ { LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \ "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", "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", "s----DUm-nnnh", "F----000-0000" }, \ { LOG_ESC1_MSG, sizeof(log_Esc), \ "ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC2_MSG, sizeof(log_Esc), \ "ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC3_MSG, sizeof(log_Esc), \ "ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC4_MSG, sizeof(log_Esc), \ "ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC5_MSG, sizeof(log_Esc), \ "ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC6_MSG, sizeof(log_Esc), \ "ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC7_MSG, sizeof(log_Esc), \ "ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_ESC8_MSG, sizeof(log_Esc), \ "ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \ { LOG_COMPASS2_MSG, sizeof(log_Compass), \ "MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \ { LOG_COMPASS3_MSG, sizeof(log_Compass), \ "MAG3",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \ { LOG_ACC1_MSG, sizeof(log_ACCEL), \ "ACC1", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \ { LOG_ACC2_MSG, sizeof(log_ACCEL), \ "ACC2", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \ { LOG_ACC3_MSG, sizeof(log_ACCEL), \ "ACC3", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \ { LOG_GYR1_MSG, sizeof(log_GYRO), \ "GYR1", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \ { LOG_GYR2_MSG, sizeof(log_GYRO), \ "GYR2", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \ { LOG_GYR3_MSG, sizeof(log_GYRO), \ "GYR3", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \ { LOG_PIDR_MSG, sizeof(log_PID), \ "PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \ { LOG_PIDP_MSG, sizeof(log_PID), \ "PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \ { LOG_PIDY_MSG, sizeof(log_PID), \ "PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \ { LOG_PIDA_MSG, sizeof(log_PID), \ "PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \ { LOG_PIDS_MSG, sizeof(log_PID), \ "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", "s??DUm--------", "F??000--------" }, \ { LOG_BAR2_MSG, sizeof(log_BARO), \ "BAR2", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \ { LOG_BAR3_MSG, sizeof(log_BARO), \ "BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \ { LOG_VIBE_MSG, sizeof(log_Vibe), \ "VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \ { LOG_IMUDT_MSG, sizeof(log_IMUDT), \ "IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \ "IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ { LOG_IMUDT3_MSG, sizeof(log_IMUDT), \ "IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \ { LOG_ISBH_MSG, sizeof(log_ISBH), \ "ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \ { LOG_ISBD_MSG, sizeof(log_ISBD), \ "ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \ { LOG_ORGN_MSG, sizeof(log_ORGN), \ "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", "s---b---", "F---0---" }, \ { LOG_RPM_MSG, sizeof(log_RPM), \ "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", "ssrrrEEELLL", "CC000000000" }, \ { LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \ "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", "s???", "C???" }, \ { 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-" }, \ { LOG_RALLY_MSG, sizeof(log_Rally), \ "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", "ssrrrmmm-", "FF000000-" } // #if SBP_HW_LOGGING #define LOG_SBP_STRUCTURES \ { LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \ "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", "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", "s??????????????", "F??????????????" }, \ { LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \ "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 // message types 0 to 63 reserved for vehicle specific use // message types for common messages enum LogMessages : uint8_t { LOG_NKF1_MSG = 64, LOG_NKF2_MSG, LOG_NKF3_MSG, LOG_NKF4_MSG, LOG_NKF5_MSG, LOG_NKF6_MSG, LOG_NKF7_MSG, LOG_NKF8_MSG, LOG_NKF9_MSG, LOG_NKF10_MSG, LOG_NKQ1_MSG, LOG_NKQ2_MSG, LOG_XKF1_MSG, LOG_XKF2_MSG, LOG_XKF3_MSG, LOG_XKF4_MSG, LOG_XKF5_MSG, LOG_XKF6_MSG, LOG_XKF7_MSG, LOG_XKF8_MSG, LOG_XKF9_MSG, LOG_XKF10_MSG, LOG_XKQ1_MSG, LOG_XKQ2_MSG, LOG_XKFD_MSG, LOG_XKV1_MSG, LOG_XKV2_MSG, LOG_FORMAT_MSG = 128, // this must remain #128 LOG_PARAMETER_MSG, LOG_GPS_MSG, LOG_GPS2_MSG, LOG_GPSB_MSG, LOG_IMU_MSG, LOG_MESSAGE_MSG, LOG_RCIN_MSG, LOG_RCOUT_MSG, LOG_RSSI_MSG, LOG_IMU2_MSG, LOG_BARO_MSG, LOG_POWR_MSG, LOG_AHR2_MSG, LOG_SIMSTATE_MSG, LOG_CMD_MSG, LOG_RADIO_MSG, LOG_ATRP_MSG, LOG_CAMERA_MSG, LOG_IMU3_MSG, LOG_TERRAIN_MSG, LOG_GPS_UBX1_MSG, LOG_GPS_UBX2_MSG, LOG_GPS2_UBX1_MSG, LOG_GPS2_UBX2_MSG, LOG_ESC1_MSG, LOG_ESC2_MSG, LOG_ESC3_MSG, LOG_ESC4_MSG, LOG_ESC5_MSG, LOG_ESC6_MSG, LOG_ESC7_MSG, LOG_ESC8_MSG, LOG_BAR2_MSG, LOG_ARSP_MSG, LOG_ATTITUDE_MSG, LOG_CURRENT_MSG, LOG_CURRENT2_MSG, LOG_CURRENT_CELLS_MSG, LOG_CURRENT_CELLS2_MSG, LOG_COMPASS_MSG, LOG_COMPASS2_MSG, LOG_COMPASS3_MSG, LOG_MODE_MSG, LOG_GPS_RAW_MSG, LOG_GPS_RAWH_MSG, LOG_GPS_RAWS_MSG, LOG_GPS_SBF_EVENT_MSG, LOG_ACC1_MSG, LOG_ACC2_MSG, LOG_ACC3_MSG, LOG_GYR1_MSG, LOG_GYR2_MSG, LOG_GYR3_MSG, LOG_POS_MSG, LOG_PIDR_MSG, LOG_PIDP_MSG, LOG_PIDY_MSG, LOG_PIDA_MSG, LOG_PIDS_MSG, LOG_DSTL_MSG, LOG_VIBE_MSG, LOG_IMUDT_MSG, LOG_IMUDT2_MSG, LOG_IMUDT3_MSG, LOG_ORGN_MSG, LOG_RPM_MSG, LOG_GPA_MSG, LOG_GPA2_MSG, LOG_GPAB_MSG, LOG_RFND_MSG, LOG_BAR3_MSG, LOG_DF_MAV_STATS, LOG_FORMAT_UNITS_MSG, LOG_UNIT_MSG, LOG_MULT_MSG, LOG_MSG_SBPHEALTH, LOG_MSG_SBPLLH, LOG_MSG_SBPBASELINE, LOG_MSG_SBPTRACKING1, LOG_MSG_SBPTRACKING2, LOG_MSG_SBPRAWH, LOG_MSG_SBPRAWM, LOG_MSG_SBPEVENT, LOG_TRIGGER_MSG, LOG_GIMBAL1_MSG, LOG_GIMBAL2_MSG, LOG_GIMBAL3_MSG, LOG_RATE_MSG, LOG_RALLY_MSG, LOG_VISUALODOM_MSG, LOG_AOA_SSA_MSG, LOG_BEACON_MSG, LOG_PROXIMITY_MSG, LOG_DF_FILE_STATS, LOG_SRTL_MSG, LOG_ISBH_MSG, LOG_ISBD_MSG, LOG_ASP2_MSG, LOG_PERFORMANCE_MSG, _LOG_LAST_MSG_ }; static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats"); enum LogOriginType { ekf_origin = 0, ahrs_home = 1 };