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ardupilot/libraries/AP_Logger/LogStructure.h

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#pragma once
#include <AP_Common/AP_Common.h>
// if you add any new types, units or multipliers, please update README.md
/*
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
*/
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
{ 'a', "Ah" }, // Ampere hours
{ '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
{ 'v', "V" }, // Volt
{ 'P', "Pa" }, // Pascal
{ 'w', "Ohm" }, // Ohm
{ 'W', "Watt" }, // Watt
{ 'X', "W.h" }, // Watt hour
{ 'y', "l/s" }, // litres per second
{ 'Y', "us" }, // pulse width modulation in microseconds
{ 'z', "Hz" }, // Hertz
{ '#', "instance" } // (e.g.)Sensor instance number
};
// 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....
// <leave a gap here, just in case....>
{ '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 },
{ 'I', 1e-9 },
// <leave a gap here, just in case....>
{ '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s)
{ '/', 3600 }, // (ampere*second => ampere*hour)
};
/*
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
#include <AP_Beacon/LogStructure.h>
#include <AP_DAL/LogStructure.h>
#include <AP_NavEKF2/LogStructure.h>
#include <AP_NavEKF3/LogStructure.h>
#include <AP_GPS/LogStructure.h>
#include <AP_NavEKF/LogStructure.h>
#include <AP_BattMonitor/LogStructure.h>
#include <AP_InertialSensor/LogStructure.h>
#include <AP_AHRS/LogStructure.h>
#include <AP_Camera/LogStructure.h>
#include <AP_Baro/LogStructure.h>
#include <AP_VisualOdom/LogStructure.h>
#include <AC_PrecLand/LogStructure.h>
#include <AP_Proximity/LogStructure.h>
#include <AC_Avoidance/LogStructure.h>
#include <AP_ESC_Telem/LogStructure.h>
#include <AP_AIS/LogStructure.h>
#include <AP_HAL_ChibiOS/LogStructure.h>
#include <AP_RPM/LogStructure.h>
#include <AC_Fence/LogStructure.h>
// structure used to define logging format
// It is packed on ChibiOS to save flash space; however, this causes problems
// when building the SITL on an Apple M1 CPU (and is also slower) so we do not
// pack it by default
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
struct PACKED LogStructure {
#else
struct LogStructure {
#endif
uint8_t msg_type;
uint8_t msg_len;
const char *name;
const char *format;
const char *labels;
const char *units;
const char *multipliers;
bool streaming; // can be rate limited
};
// 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 PACKED log_Parameter {
LOG_PACKET_HEADER;
uint64_t time_us;
char name[16];
float value;
float default_value;
};
struct PACKED log_DSF {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t dropped;
uint16_t blocks;
uint32_t bytes;
uint32_t buf_space_min;
uint32_t buf_space_max;
uint32_t buf_space_avg;
};
struct PACKED log_Event {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
};
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
struct PACKED log_Message {
LOG_PACKET_HEADER;
uint64_t time_us;
char msg[64];
};
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_RCIN2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
uint16_t override_mask;
};
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_RCOUT2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan15;
uint16_t chan16;
uint16_t chan17;
uint16_t chan18;
};
struct PACKED log_MAV {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t chan;
uint16_t packet_tx_count;
uint16_t packet_rx_success_count;
uint16_t packet_rx_drop_count;
uint8_t flags;
uint16_t stream_slowdown_ms;
uint16_t times_full;
};
struct PACKED log_RSSI {
LOG_PACKET_HEADER;
uint64_t time_us;
float RXRSSI;
float RXLQ;
};
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t surface_quality;
float flow_x;
float flow_y;
float body_x;
float body_y;
};
struct PACKED log_POWR {
LOG_PACKET_HEADER;
uint64_t time_us;
float Vcc;
float Vservo;
uint16_t flags;
uint16_t accumulated_flags;
uint8_t safety_and_arm;
};
struct PACKED log_MCU {
LOG_PACKET_HEADER;
uint64_t time_us;
float MCU_temp;
float MCU_voltage;
float MCU_voltage_min;
float MCU_voltage_max;
};
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;
int32_t latitude;
int32_t longitude;
float altitude;
uint8_t frame;
};
struct PACKED log_MAVLink_Command {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t target_system;
uint8_t target_component;
uint8_t source_system;
uint8_t source_component;
uint8_t frame;
uint16_t command;
float param1;
float param2;
float param3;
float param4;
int32_t x;
int32_t y;
float z;
uint8_t result;
bool was_command_long;
};
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_PID {
LOG_PACKET_HEADER;
uint64_t time_us;
float target;
float actual;
float error;
float P;
float I;
float D;
float FF;
float Dmod;
float slew_rate;
uint8_t limit;
};
struct PACKED log_WheelEncoder {
LOG_PACKET_HEADER;
uint64_t time_us;
float distance_0;
uint8_t quality_0;
float distance_1;
uint8_t quality_1;
};
struct PACKED log_ADSB {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t ICAO_address;
int32_t lat;
int32_t lng;
int32_t alt;
uint16_t heading;
uint16_t hor_velocity;
int16_t ver_velocity;
uint16_t squawk;
};
struct PACKED log_MAG {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
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;
uint8_t instance;
uint16_t dist;
uint8_t status;
uint8_t orient;
};
/*
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;
float reference_offset;
};
struct PACKED log_CSRV {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
float position;
float force;
float speed;
uint8_t power_pct;
float pos_cmd;
float voltage;
float current;
float mot_temp;
float pcb_temp;
uint8_t error;
};
struct PACKED log_ARSP {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
float airspeed;
float diffpressure;
int16_t temperature;
float rawpressure;
float offset;
bool use;
bool healthy;
float health_prob;
float test_ratio;
uint8_t primary;
};
struct PACKED log_MAV_Stats {
LOG_PACKET_HEADER;
uint64_t timestamp;
uint32_t seqno;
uint32_t dropped;
uint32_t retries;
uint32_t resends;
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_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_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t loop_rate;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
uint32_t mem_avail;
uint16_t load;
uint16_t internal_error_last_line;
uint32_t internal_errors;
uint32_t internal_error_count;
uint32_t spi_count;
uint32_t i2c_count;
uint32_t i2c_isr_count;
uint32_t extra_loop_us;
};
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;
};
struct PACKED log_Arm_Disarm {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t arm_state;
uint32_t arm_checks;
uint8_t forced;
uint8_t method;
};
struct PACKED log_Winch {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t healthy;
uint8_t thread_end;
uint8_t moving;
uint8_t clutch;
uint8_t mode;
float desired_length;
float length;
float desired_rate;
uint16_t tension;
float voltage;
int8_t temp;
};
// position controller per-axis logging
struct PACKED log_PSCx {
LOG_PACKET_HEADER;
uint64_t time_us;
float pos_target;
float pos;
float vel_desired;
float vel_target;
float vel;
float accel_desired;
float accel_target;
float accel;
};
// thread stack usage
struct PACKED log_STAK {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t thread_id;
uint8_t priority;
uint16_t stack_total;
uint16_t stack_free;
char name[16];
};
struct PACKED log_File {
LOG_PACKET_HEADER;
char filename[16];
uint32_t offset;
uint8_t length;
char data[64];
};
struct PACKED log_Scripting {
LOG_PACKET_HEADER;
uint64_t time_us;
char name[16];
uint32_t run_time;
int32_t total_mem;
int32_t run_mem;
};
struct PACKED log_MotBatt {
LOG_PACKET_HEADER;
uint64_t time_us;
float lift_max;
float bat_volt;
float th_limit;
float th_average_max;
float th_out;
uint8_t mot_fail_flags;
};
struct PACKED log_VER {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t board_type;
uint16_t board_subtype;
uint8_t major;
uint8_t minor;
uint8_t patch;
uint8_t fw_type;
uint32_t git_hash;
char fw_string[64];
uint16_t _APJ_BOARD_ID;
uint8_t build_type;
};
// 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 PID_LABELS "TimeUS,Tar,Act,Err,P,I,D,FF,Dmod,SRate,Limit"
#define PID_FMT "QfffffffffB"
#define PID_UNITS "s----------"
#define PID_MULTS "F----------"
#define PIDx_FMT "Qffffffff"
#define PIDx_UNITS "smmnnnooo"
#define PIDx_MULTS "F00000000"
// @LoggerMessage: ADSB
// @Description: Automatic Dependent Serveillance - Broadcast detected vehicle information
// @Field: TimeUS: Time since system startup
// @Field: ICAO_address: Transponder address
// @Field: Lat: Vehicle latitude
// @Field: Lng: Vehicle longitude
// @Field: Alt: Vehicle altitude
// @Field: Heading: Vehicle heading
// @Field: Hor_vel: Vehicle horizontal velocity
// @Field: Ver_vel: Vehicle vertical velocity
// @Field: Squark: Transponder squawk code
// @LoggerMessage: ARM
// @Description: Arming status changes
// @Field: TimeUS: Time since system startup
// @Field: ArmState: true if vehicle is now armed
// @Field: ArmChecks: arming bitmask at time of arming
// @FieldBitmaskEnum: ArmChecks: AP_Arming::ArmingChecks
// @Field: Forced: true if arm/disarm was forced
// @Field: Method: method used for arming
// @FieldValueEnum: Method: AP_Arming::Method
// @LoggerMessage: ARSP
// @Description: Airspeed sensor data
// @Field: TimeUS: Time since system startup
// @Field: I: Airspeed sensor instance number
// @Field: Airspeed: Current airspeed
// @Field: DiffPress: Pressure difference between static and dynamic port
// @Field: Temp: Temperature used for calculation
// @Field: RawPress: Raw pressure less offset
// @Field: Offset: Offset from parameter
// @Field: U: True if sensor is being used
// @Field: H: True if sensor is healthy
// @Field: Hp: Probability sensor is healthy
// @Field: TR: innovation test ratio
// @Field: Pri: True if sensor is the primary sensor
// @LoggerMessage: CMD
// @Description: Executed mission command information
// @Field: TimeUS: Time since system startup
// @Field: CTot: Total number of mission commands
// @Field: CNum: This command's offset in mission
// @Field: CId: Command type
// @Field: Prm1: Parameter 1
// @Field: Prm2: Parameter 2
// @Field: Prm3: Parameter 3
// @Field: Prm4: Parameter 4
// @Field: Lat: Command latitude
// @Field: Lng: Command longitude
// @Field: Alt: Command altitude
// @Field: Frame: Frame used for position
// @LoggerMessage: CSRV
// @Description: Servo feedback data
// @Field: TimeUS: Time since system startup
// @Field: Id: Servo number this data relates to
// @Field: Pos: Current servo position
// @Field: Force: Force being applied
// @Field: Speed: Current servo movement speed
// @Field: Pow: Amount of rated power being applied
// @Field: PosCmd: commanded servo position
// @Field: V: Voltage
// @Field: A: Current
// @Field: MotT: motor temperature
// @Field: PCBT: PCB temperature
// @Field: Err: error flags
// @LoggerMessage: DMS
// @Description: DataFlash-Over-MAVLink statistics
// @Field: TimeUS: Time since system startup
// @Field: N: Current block number
// @Field: Dp: Number of times we rejected a write to the backend
// @Field: RT: Number of blocks sent from the retry queue
// @Field: RS: Number of resends of unacknowledged data made
// @Field: Fa: Average number of blocks on the free list
// @Field: Fmn: Minimum number of blocks on the free list
// @Field: Fmx: Maximum number of blocks on the free list
// @Field: Pa: Average number of blocks on the pending list
// @Field: Pmn: Minimum number of blocks on the pending list
// @Field: Pmx: Maximum number of blocks on the pending list
// @Field: Sa: Average number of blocks on the sent list
// @Field: Smn: Minimum number of blocks on the sent list
// @Field: Smx: Maximum number of blocks on the sent list
// @LoggerMessage: DSF
// @Description: Onboard logging statistics
// @Field: TimeUS: Time since system startup
// @Field: Dp: Number of times we rejected a write to the backend
// @Field: Blk: Current block number
// @Field: Bytes: Current write offset
// @Field: FMn: Minimum free space in write buffer in last time period
// @Field: FMx: Maximum free space in write buffer in last time period
// @Field: FAv: Average free space in write buffer in last time period
// @LoggerMessage: DSTL
// @Description: Deepstall Landing data
// @Field: TimeUS: Time since system startup
// @Field: Stg: Deepstall landing stage
// @Field: THdg: Target heading
// @Field: Lat: Landing point latitude
// @Field: Lng: Landing point longitude
// @Field: Alt: Landing point altitude
// @Field: XT: Crosstrack error
// @Field: Travel: Expected travel distance vehicle will travel from this point
// @Field: L1I: L1 controller crosstrack integrator value
// @Field: Loiter: wind estimate loiter angle flown
// @Field: Des: Deepstall steering PID desired value
// @Field: P: Deepstall steering PID Proportional response component
// @Field: I: Deepstall steering PID Integral response component
// @Field: D: Deepstall steering PID Derivative response component
// @LoggerMessage: ERR
// @Description: Specifically coded error messages
// @Field: TimeUS: Time since system startup
// @Field: Subsys: Subsystem in which the error occurred
// @FieldValueEnum: Subsys: LogErrorSubsystem
// @Field: ECode: Subsystem-specific error code
// @LoggerMessage: EV
// @Description: Specifically coded event messages
// @Field: TimeUS: Time since system startup
// @Field: Id: Event identifier
// @FieldValueEnum: Id: LogEvent
// @LoggerMessage: FMT
// @Description: Message defining the format of messages in this file
// @URL: https://ardupilot.org/dev/docs/code-overview-adding-a-new-log-message.html
// @Field: Type: unique-to-this-log identifier for message being defined
// @Field: Length: the number of bytes taken up by this message (including all headers)
// @Field: Name: name of the message being defined
// @Field: Format: character string defining the C-storage-type of the fields in this message
// @Field: Columns: the labels of the message being defined
// @LoggerMessage: FMTU
// @Description: Message defining units and multipliers used for fields of other messages
// @Field: TimeUS: Time since system startup
// @Field: FmtType: numeric reference to associated FMT message
// @Field: UnitIds: each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format
// @Field: MultIds: each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format
// @LoggerMessage: LGR
// @Description: Landing gear information
// @Field: TimeUS: Time since system startup
// @Field: LandingGear: Current landing gear state
// @FieldValueEnum: LandingGear: AP_LandingGear::LG_LandingGear_State
// @Field: WeightOnWheels: True if there is weight on wheels
// @LoggerMessage: MAG
// @Description: Information received from compasses
// @Field: TimeUS: Time since system startup
// @Field: I: magnetometer sensor instance number
// @Field: MagX: magnetic field strength in body frame
// @Field: MagY: magnetic field strength in body frame
// @Field: MagZ: magnetic field strength in body frame
// @Field: OfsX: magnetic field offset in body frame
// @Field: OfsY: magnetic field offset in body frame
// @Field: OfsZ: magnetic field offset in body frame
// @Field: MOX: motor interference magnetic field offset in body frame
// @Field: MOY: motor interference magnetic field offset in body frame
// @Field: MOZ: motor interference magnetic field offset in body frame
// @Field: Health: true if the compass is considered healthy
// @Field: S: time measurement was taken
// @LoggerMessage: MAV
// @Description: GCS MAVLink link statistics
// @Field: TimeUS: Time since system startup
// @Field: chan: mavlink channel number
// @Field: txp: transmitted packet count
// @Field: rxp: received packet count
// @Field: rxdp: perceived number of packets we never received
// @Field: flags: compact representation of some stage of the channel
// @FieldBitmaskEnum: flags: GCS_MAVLINK::Flags
// @Field: ss: stream slowdown is the number of ms being added to each message to fit within bandwidth
// @Field: tf: times buffer was full when a message was going to be sent
// @LoggerMessage: MAVC
// @Description: MAVLink command we have just executed
// @Field: TimeUS: Time since system startup
// @Field: TS: target system for command
// @Field: TC: target component for command
// @Field: SS: source system for command
// @Field: SC: source component for command
// @Field: Fr: command frame
// @Field: Cmd: mavlink command enum value
// @Field: P1: first parameter from mavlink packet
// @Field: P2: second parameter from mavlink packet
// @Field: P3: third parameter from mavlink packet
// @Field: P4: fourth parameter from mavlink packet
// @Field: X: X coordinate from mavlink packet
// @Field: Y: Y coordinate from mavlink packet
// @Field: Z: Z coordinate from mavlink packet
// @Field: Res: command result being returned from autopilot
// @Field: WL: true if this command arrived via a COMMAND_LONG rather than COMMAND_INT
// @LoggerMessage: MODE
// @Description: vehicle control mode information
// @Field: TimeUS: Time since system startup
// @Field: Mode: vehicle-specific mode number
// @Field: ModeNum: alias for Mode
// @Field: Rsn: reason for entering this mode; enumeration value
// @FieldValueEnum: Rsn: ModeReason
// @LoggerMessage: MSG
// @Description: Textual messages
// @Field: TimeUS: Time since system startup
// @Field: Message: message text
// @LoggerMessage: MULT
// @Description: Message mapping from single character to numeric multiplier
// @Field: TimeUS: Time since system startup
// @Field: Id: character referenced by FMTU
// @Field: Mult: numeric multiplier
// @LoggerMessage: OF
// @Description: Optical flow sensor data
// @Field: TimeUS: Time since system startup
// @Field: Qual: Estimated sensor data quality
// @Field: flowX: Sensor flow rate, X-axis
// @Field: flowY: Sensor flow rate,Y-axis
// @Field: bodyX: derived velocity, X-axis
// @Field: bodyY: derived velocity, Y-axis
// @LoggerMessage: PARM
// @Description: parameter value
// @Field: TimeUS: Time since system startup
// @Field: Name: parameter name
// @Field: Value: parameter value
// @Field: Default: default parameter value for this board and config
// @LoggerMessage: PIDR,PIDP,PIDY,PIDA,PIDS,PIDN,PIDE
// @Description: Proportional/Integral/Derivative gain values for Roll/Pitch/Yaw/Altitude/Steering
// @Field: TimeUS: Time since system startup
// @Field: Tar: desired value
// @Field: Act: achieved value
// @Field: Err: error between target and achieved
// @Field: P: proportional part of PID
// @Field: I: integral part of PID
// @Field: D: derivative part of PID
// @Field: FF: controller feed-forward portion of response
// @Field: Dmod: scaler applied to D gain to reduce limit cycling
// @Field: SRate: slew rate used in slew limiter
// @Field: Limit: 1 if I term is limited due to output saturation
// @LoggerMessage: PM
// @Description: autopilot system performance and general data dumping ground
// @Field: TimeUS: Time since system startup
// @Field: LR: Main loop rate
// @Field: NLon: Number of long loops detected
// @Field: NL: Number of measurement loops for this message
// @Field: MaxT: Maximum loop time
// @Field: Mem: Free memory available
// @Field: Load: System processor load
// @Field: IntE: Internal error mask; which internal errors have been detected
// @FieldBitmaskEnum: IntE: AP_InternalError::error_t
// @Field: ErrL: Internal error line number; last line number on which a internal error was detected
// @Field: ErrC: Internal error count; how many internal errors have been detected
// @Field: SPIC: Number of SPI transactions processed
// @Field: I2CC: Number of i2c transactions processed
// @Field: I2CI: Number of i2c interrupts serviced
// @Field: Ex: number of microseconds being added to each loop to address scheduler overruns
// @LoggerMessage: POWR
// @Description: System power information
// @Field: TimeUS: Time since system startup
// @Field: Vcc: Flight board voltage
// @Field: VServo: Servo rail voltage
// @Field: Flags: System power flags
// @Field: AccFlags: Accumulated System power flags; all flags which have ever been set
// @Field: Safety: Hardware Safety Switch status
// @LoggerMessage: MCU
// @Description: MCU voltage and temprature monitering
// @Field: TimeUS: Time since system startup
// @Field: MTemp: Temperature
// @Field: MVolt: Voltage
// @Field: MVmin: Voltage min
// @Field: MVmax: Voltage max
// @LoggerMessage: RAD
// @Description: Telemetry radio statistics
// @Field: TimeUS: Time since system startup
// @Field: RSSI: RSSI
// @Field: RemRSSI: RSSI reported from remote radio
// @Field: TxBuf: number of bytes in radio ready to be sent
// @Field: Noise: local noise floor
// @Field: RemNoise: local noise floor reported from remote radio
// @Field: RxErrors: damaged packet count
// @Field: Fixed: fixed damaged packet count
// @LoggerMessage: RALY
// @Description: Rally point information
// @Field: TimeUS: Time since system startup
// @Field: Tot: total number of rally points onboard
// @Field: Seq: this rally point's sequence number
// @Field: Lat: latitude of rally point
// @Field: Lng: longitude of rally point
// @Field: Alt: altitude of rally point
// @LoggerMessage: RCI2
// @Description: (More) RC input channels to vehicle
// @Field: TimeUS: Time since system startup
// @Field: C15: channel 15 input
// @Field: C16: channel 16 input
// @Field: OMask: bitmask of RC channels being overridden by mavlink input
// @LoggerMessage: RCIN
// @Description: RC input channels to vehicle
// @Field: TimeUS: Time since system startup
// @Field: C1: channel 1 input
// @Field: C2: channel 2 input
// @Field: C3: channel 3 input
// @Field: C4: channel 4 input
// @Field: C5: channel 5 input
// @Field: C6: channel 6 input
// @Field: C7: channel 7 input
// @Field: C8: channel 8 input
// @Field: C9: channel 9 input
// @Field: C10: channel 10 input
// @Field: C11: channel 11 input
// @Field: C12: channel 12 input
// @Field: C13: channel 13 input
// @Field: C14: channel 14 input
// @LoggerMessage: RCOU
// @Description: Servo channel output values 1 to 14
// @Field: TimeUS: Time since system startup
// @Field: C1: channel 1 output
// @Field: C2: channel 2 output
// @Field: C3: channel 3 output
// @Field: C4: channel 4 output
// @Field: C5: channel 5 output
// @Field: C6: channel 6 output
// @Field: C7: channel 7 output
// @Field: C8: channel 8 output
// @Field: C9: channel 9 output
// @Field: C10: channel 10 output
// @Field: C11: channel 11 output
// @Field: C12: channel 12 output
// @Field: C13: channel 13 output
// @Field: C14: channel 14 output
// @LoggerMessage: RCO2
// @Description: Servo channel output values 15 to 18
// @Field: TimeUS: Time since system startup
// @Field: C15: channel 15 output
// @Field: C16: channel 16 output
// @Field: C17: channel 17 output
// @Field: C18: channel 18 output
// @LoggerMessage: RCO3
// @Description: Servo channel output values 19 to 32
// @Field: TimeUS: Time since system startup
// @Field: C19: channel 19 output
// @Field: C20: channel 20 output
// @Field: C21: channel 21 output
// @Field: C22: channel 22 output
// @Field: C23: channel 23 output
// @Field: C24: channel 24 output
// @Field: C25: channel 25 output
// @Field: C26: channel 26 output
// @Field: C27: channel 27 output
// @Field: C28: channel 28 output
// @Field: C29: channel 29 output
// @Field: C30: channel 30 output
// @Field: C31: channel 31 output
// @Field: C32: channel 32 output
// @LoggerMessage: RFND
// @Description: Rangefinder sensor information
// @Field: TimeUS: Time since system startup
// @Field: Instance: rangefinder instance number this data is from
// @Field: Dist: Reported distance from sensor
// @Field: Stat: Sensor state
// @FieldValueEnum: Stat: RangeFinder::Status
// @Field: Orient: Sensor orientation
// @LoggerMessage: RSSI
// @Description: Received Signal Strength Indicator for RC receiver
// @Field: TimeUS: Time since system startup
// @Field: RXRSSI: RSSI
// @Field: RXLQ: RX Link Quality
// @LoggerMessage: SIM
// @Description: SITL simulator state
// @Field: TimeUS: Time since system startup
// @Field: Roll: Simulated roll
// @Field: Pitch: Simulated pitch
// @Field: Yaw: Simulated yaw
// @Field: Alt: Simulated altitude
// @Field: Lat: Simulated latitude
// @Field: Lng: Simulated longitude
// @Field: Q1: Attitude quaternion component 1
// @Field: Q2: Attitude quaternion component 2
// @Field: Q3: Attitude quaternion component 3
// @Field: Q4: Attitude quaternion component 4
// @LoggerMessage: SRTL
// @Description: SmartRTL statistics
// @Field: TimeUS: Time since system startup
// @Field: Active: true if SmartRTL could be used right now
// @Field: NumPts: number of points currently in use
// @Field: MaxPts: maximum number of points that could be used
// @Field: Action: most recent internal action taken by SRTL library
// @FieldValueEnum: Action: AP_SmartRTL::SRTL_Actions
// @Field: N: point associated with most recent action (North component)
// @Field: E: point associated with most recent action (East component)
// @Field: D: point associated with most recent action (Down component)
// @LoggerMessage: TERR
// @Description: Terrain database information
// @Field: TimeUS: Time since system startup
// @Field: Status: Terrain database status
// @FieldValueEnum: Status: AP_Terrain::TerrainStatus
// @Field: Lat: Current vehicle latitude
// @Field: Lng: Current vehicle longitude
// @Field: Spacing: terrain Tile spacing
// @Field: TerrH: current Terrain height
// @Field: CHeight: Vehicle height above terrain
// @Field: Pending: Number of tile requests outstanding
// @Field: Loaded: Number of tiles in memory
// @Field: ROfs: terrain reference offset for arming altitude
// @LoggerMessage: TSYN
// @Description: Time synchronisation response information
// @Field: TimeUS: Time since system startup
// @Field: SysID: system ID this data is for
// @Field: RTT: round trip time for this system
// @LoggerMessage: UNIT
// @Description: Message mapping from single character to SI unit
// @Field: TimeUS: Time since system startup
// @Field: Id: character referenced by FMTU
// @Field: Label: Unit - SI where available
// @LoggerMessage: WENC
// @Description: Wheel encoder measurements
// @Field: TimeUS: Time since system startup
// @Field: Dist0: First wheel distance travelled
// @Field: Qual0: Quality measurement of Dist0
// @Field: Dist1: Second wheel distance travelled
// @Field: Qual1: Quality measurement of Dist1
// @LoggerMessage: WINC
// @Description: Winch
// @Field: TimeUS: Time since system startup
// @Field: Heal: Healthy
// @Field: ThEnd: Reached end of thread
// @Field: Mov: Motor is moving
// @Field: Clut: Clutch is engaged (motor can move freely)
// @Field: Mode: 0 is Relaxed, 1 is Position Control, 2 is Rate Control
// @Field: DLen: Desired Length
// @Field: Len: Estimated Length
// @Field: DRate: Desired Rate
// @Field: Tens: Tension on line
// @Field: Vcc: Voltage to Motor
// @Field: Temp: Motor temperature
// @LoggerMessage: PSCN
// @Description: Position Control North
// @Field: TimeUS: Time since system startup
// @Field: TPN: Target position relative to EKF origin
// @Field: PN: Position relative to EKF origin
// @Field: DVN: Desired velocity North
// @Field: TVN: Target velocity North
// @Field: VN: Velocity North
// @Field: DAN: Desired acceleration North
// @Field: TAN: Target acceleration North
// @Field: AN: Acceleration North
// @LoggerMessage: PSCE
// @Description: Position Control East
// @Field: TimeUS: Time since system startup
// @Field: TPE: Target position relative to EKF origin
// @Field: PE: Position relative to EKF origin
// @Field: DVE: Desired velocity East
// @Field: TVE: Target velocity East
// @Field: VE: Velocity East
// @Field: DAE: Desired acceleration East
// @Field: TAE: Target acceleration East
// @Field: AE: Acceleration East
// @LoggerMessage: PSCD
// @Description: Position Control Down
// @Field: TimeUS: Time since system startup
// @Field: TPD: Target position relative to EKF origin
// @Field: PD: Position relative to EKF origin
// @Field: DVD: Desired velocity Down
// @Field: TVD: Target velocity Down
// @Field: VD: Velocity Down
// @Field: DAD: Desired acceleration Down
// @Field: TAD: Target acceleration Down
// @Field: AD: Acceleration Down
// @LoggerMessage: STAK
// @Description: Stack information
// @Field: TimeUS: Time since system startup
// @Field: Id: thread ID
// @Field: Pri: thread priority
// @Field: Total: total stack
// @Field: Free: free stack
// @Field: Name: thread name
// @LoggerMessage: SCR
// @Description: Scripting runtime stats
// @Field: TimeUS: Time since system startup
// @Field: Name: script name
// @Field: Runtime: run time
// @Field: Total_mem: total memory usage of all scripts
// @Field: Run_mem: run memory usage
// @LoggerMessage: MOTB
// @Description: Motor mixer information
// @Field: TimeUS: Time since system startup
// @Field: LiftMax: Maximum motor compensation gain
// @Field: BatVolt: Ratio between detected battery voltage and maximum battery voltage
// @Field: ThLimit: Throttle limit set due to battery current limitations
// @Field: ThrAvMx: Maximum average throttle that can be used to maintain attitude control, derived from throttle mix params
// @Field: ThrOut: Throttle output
// @Field: FailFlags: bit 0 motor failed, bit 1 motors balanced, should be 2 in normal flight
// messages for all boards
#define LOG_COMMON_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", "QNff", "TimeUS,Name,Value,Default", "s---", "F---" }, \
LOG_STRUCTURE_FROM_GPS \
{ 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", "sYYYYYYYYYYYYYY", "F--------------", true }, \
{ LOG_RCIN2_MSG, sizeof(log_RCIN2), \
"RCI2", "QHHH", "TimeUS,C15,C16,OMask", "sYY-", "F---", true }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------", true }, \
{ LOG_RCOUT2_MSG, sizeof(log_RCOUT2), \
"RCO2", "QHHHH", "TimeUS,C15,C16,C17,C18", "sYYYY", "F----", true }, \
{ LOG_RCOUT3_MSG, sizeof(log_RCOUT), \
"RCO3", "QHHHHHHHHHHHHHH", "TimeUS,C19,C20,C21,C22,C23,C24,C25,C26,C27,C28,C29,C30,C31,C32", "sYYYYYYYYYYYYYY", "F--------------", true }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qff", "TimeUS,RXRSSI,RXLQ", "s--", "F--", true }, \
LOG_STRUCTURE_FROM_BARO \
LOG_STRUCTURE_FROM_PRECLAND \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \
{ LOG_MCU_MSG, sizeof(log_MCU), \
"MCU","Qffff","TimeUS,MTemp,MVolt,MVmin,MVmax", "sOvvv", "F0000", true }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \
"MAVC", "QBBBBBHffffiifBB","TimeUS,TS,TC,SS,SC,Fr,Cmd,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------", true }, \
LOG_STRUCTURE_FROM_CAMERA \
{ LOG_ARSP_MSG, sizeof(log_ARSP), "ARSP", "QBffcffBBffB", "TimeUS,I,Airspeed,DiffPress,Temp,RawPress,Offset,U,H,Hp,TR,Pri", "s#nPOPP-----", "F-00B00-----", true }, \
LOG_STRUCTURE_FROM_BATTMONITOR \
{ LOG_MAG_MSG, sizeof(log_MAG), \
"MAG", "QBhhhhhhhhhBI", "TimeUS,I,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOX,MOY,MOZ,Health,S", "s#GGGGGGGGG-s", "F-CCCCCCCCC-F", true }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QBCBB", "TimeUS,Instance,Dist,Stat,Orient", "s#m--", "F-B--", true }, \
{ LOG_MAV_STATS, sizeof(log_MAV_Stats), \
"DMS", "QIIIIBBBBBBBBB", "TimeUS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "F-------------" }, \
LOG_STRUCTURE_FROM_BEACON \
LOG_STRUCTURE_FROM_PROXIMITY \
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), \
"PM", "QHHHIIHHIIIIII", "TimeUS,LR,NLon,NL,MaxT,Mem,Load,ErrL,IntE,ErrC,SPIC,I2CC,I2CI,Ex", "sz---b%------s", "F----0A------F" }, \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
LOG_STRUCTURE_FROM_AVOIDANCE \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????", true }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHHf","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded,ROfs", "s-DU-mm--m", "F-GG-00--0", true }, \
LOG_STRUCTURE_FROM_ESC_TELEM \
{ LOG_CSRV_MSG, sizeof(log_CSRV), \
"CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#---%dvAOO-", "F-000000000-", true }, \
{ LOG_PIDR_MSG, sizeof(log_PID), \
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS, true }, \
{ LOG_PIDP_MSG, sizeof(log_PID), \
"PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ LOG_PIDY_MSG, sizeof(log_PID), \
"PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ LOG_PIDA_MSG, sizeof(log_PID), \
"PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ LOG_PIDS_MSG, sizeof(log_PID), \
"PIDS", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ LOG_PIDN_MSG, sizeof(log_PID), \
"PIDN", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ LOG_PIDE_MSG, sizeof(log_PID), \
"PIDE", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS , true }, \
{ 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--------" , true }, \
LOG_STRUCTURE_FROM_INERTIALSENSOR \
LOG_STRUCTURE_FROM_DAL \
LOG_STRUCTURE_FROM_NAVEKF2 \
LOG_STRUCTURE_FROM_NAVEKF3 \
LOG_STRUCTURE_FROM_NAVEKF \
LOG_STRUCTURE_FROM_AHRS \
LOG_STRUCTURE_FROM_HAL_CHIBIOS \
LOG_STRUCTURE_FROM_RPM \
LOG_STRUCTURE_FROM_FENCE \
{ LOG_DF_FILE_STATS, sizeof(log_DSF), \
"DSF", "QIHIIII", "TimeUS,Dp,Blk,Bytes,FMn,FMx,FAv", "s--b---", "F--0---" }, \
{ LOG_RALLY_MSG, sizeof(log_Rally), \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
{ LOG_MAV_MSG, sizeof(log_MAV), \
"MAV", "QBHHHBHH", "TimeUS,chan,txp,rxp,rxdp,flags,ss,tf", "s#----s-", "F-000-C-" }, \
LOG_STRUCTURE_FROM_VISUALODOM \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEnn", "F-0000" , true }, \
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \
"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" , true }, \
{ LOG_ADSB_MSG, sizeof(log_ADSB), \
"ADSB", "QIiiiHHhH", "TimeUS,ICAO_address,Lat,Lng,Alt,Heading,Hor_vel,Ver_vel,Squark", "s-DUmhnn-", "F-GGCBCC-" }, \
{ LOG_EVENT_MSG, sizeof(log_Event), \
"EV", "QB", "TimeUS,Id", "s-", "F-" }, \
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), \
"ARM", "QBIBB", "TimeUS,ArmState,ArmChecks,Forced,Method", "s----", "F----" }, \
{ LOG_ERROR_MSG, sizeof(log_Error), \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }, \
{ LOG_WINCH_MSG, sizeof(log_Winch), \
"WINC", "QBBBBBfffHfb", "TimeUS,Heal,ThEnd,Mov,Clut,Mode,DLen,Len,DRate,Tens,Vcc,Temp", "s-----mmn?vO", "F-----000000" }, \
{ LOG_PSCN_MSG, sizeof(log_PSCx), \
"PSCN", PIDx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCE_MSG, sizeof(log_PSCx), \
"PSCE", PIDx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_PSCD_MSG, sizeof(log_PSCx), \
"PSCD", PIDx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PIDx_UNITS, PIDx_MULTS }, \
{ LOG_STAK_MSG, sizeof(log_STAK), \
"STAK", "QBBHHN", "TimeUS,Id,Pri,Total,Free,Name", "s#----", "F-----", true }, \
{ LOG_FILE_MSG, sizeof(log_File), \
"FILE", "NIBZ", "FileName,Offset,Length,Data", "----", "----" }, \
LOG_STRUCTURE_FROM_AIS \
{ LOG_SCRIPTING_MSG, sizeof(log_Scripting), \
"SCR", "QNIii", "TimeUS,Name,Runtime,Total_mem,Run_mem", "s-sbb", "F-F--", true }, \
{ LOG_VER_MSG, sizeof(log_VER), \
"VER", "QBHBBBBIZHB", "TimeUS,BT,BST,Maj,Min,Pat,FWT,GH,FWS,APJ,BU", "s----------", "F----------", false }, \
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt), \
"MOTB", "QfffffB", "TimeUS,LiftMax,BatVolt,ThLimit,ThrAvMx,ThrOut,FailFlags", "s------", "F------" , true }
// message types 0 to 63 reserved for vehicle specific use
// message types for common messages
enum LogMessages : uint8_t {
LOG_PARAMETER_MSG = 32,
LOG_IDS_FROM_NAVEKF2,
LOG_IDS_FROM_NAVEKF3,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCIN2_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IDS_FROM_BARO,
LOG_POWR_MSG,
LOG_MCU_MSG,
LOG_IDS_FROM_AHRS,
LOG_SIMSTATE_MSG,
LOG_CMD_MSG,
LOG_MAVLINK_COMMAND_MSG,
LOG_RADIO_MSG,
LOG_ATRP_MSG,
LOG_IDS_FROM_CAMERA,
LOG_TERRAIN_MSG,
LOG_CSRV_MSG,
LOG_IDS_FROM_ESC_TELEM,
LOG_IDS_FROM_BATTMONITOR,
LOG_IDS_FROM_HAL_CHIBIOS,
LOG_IDS_FROM_GPS,
LOG_PIDR_MSG,
LOG_PIDP_MSG,
LOG_PIDY_MSG,
LOG_PIDA_MSG,
LOG_PIDS_MSG,
LOG_PIDN_MSG,
LOG_PIDE_MSG,
LOG_DSTL_MSG,
LOG_MAG_MSG,
LOG_ARSP_MSG,
LOG_IDS_FROM_RPM,
LOG_RFND_MSG,
LOG_MAV_STATS,
LOG_FORMAT_UNITS_MSG,
LOG_UNIT_MSG,
LOG_MULT_MSG,
LOG_RALLY_MSG,
// LOG_MODE_MSG is used as a check for duplicates. Do not add between this and LOG_FORMAT_MSG
LOG_MODE_MSG,
LOG_FORMAT_MSG = 128, // this must remain #128
LOG_IDS_FROM_DAL,
LOG_IDS_FROM_INERTIALSENSOR,
LOG_IDS_FROM_VISUALODOM,
LOG_IDS_FROM_AVOIDANCE,
LOG_IDS_FROM_BEACON,
LOG_IDS_FROM_PROXIMITY,
LOG_DF_FILE_STATS,
LOG_SRTL_MSG,
LOG_PERFORMANCE_MSG,
LOG_OPTFLOW_MSG,
LOG_EVENT_MSG,
LOG_WHEELENCODER_MSG,
LOG_MAV_MSG,
LOG_ERROR_MSG,
LOG_ADSB_MSG,
LOG_ARM_DISARM_MSG,
LOG_WINCH_MSG,
LOG_PSCN_MSG,
LOG_PSCE_MSG,
LOG_PSCD_MSG,
LOG_IDS_FROM_PRECLAND,
LOG_IDS_FROM_AIS,
LOG_STAK_MSG,
LOG_FILE_MSG,
LOG_SCRIPTING_MSG,
LOG_VIDEO_STABILISATION_MSG,
LOG_MOTBATT_MSG,
LOG_VER_MSG,
LOG_RCOUT2_MSG,
LOG_RCOUT3_MSG,
LOG_IDS_FROM_FENCE,
_LOG_LAST_MSG_
};
// we reserve ID #255 for future expansion
static_assert(_LOG_LAST_MSG_ < 255, "Too many message formats");
static_assert(LOG_MODE_MSG < 128, "Duplicate message format IDs");
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