mirror of https://github.com/ArduPilot/ardupilot
1351 lines
44 KiB
C
1351 lines
44 KiB
C
#pragma once
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#include <AP_Common/AP_Common.h>
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// if you add any new types, units or multipliers, please update README.md
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/*
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Format characters in the format string for binary log messages
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a : int16_t[32]
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b : int8_t
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B : uint8_t
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h : int16_t
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H : uint16_t
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i : int32_t
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I : uint32_t
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f : float
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d : double
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n : char[4]
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N : char[16]
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Z : char[64]
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c : int16_t * 100
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C : uint16_t * 100
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e : int32_t * 100
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E : uint32_t * 100
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L : int32_t latitude/longitude
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M : uint8_t flight mode
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q : int64_t
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Q : uint64_t
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*/
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struct UnitStructure {
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const char ID;
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const char *unit;
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};
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struct MultiplierStructure {
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const char ID;
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const double multiplier;
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};
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// all units here should be base units
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// This does mean battery capacity is here as "amp*second"
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// Please keep the names consistent with Tools/autotest/param_metadata/param.py:33
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const struct UnitStructure log_Units[] = {
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{ '-', "" }, // no units e.g. Pi, or a string
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{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
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{ 'A', "A" }, // Ampere
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{ 'a', "Ah" }, // Ampere hours
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{ 'd', "deg" }, // of the angular variety, -180 to 180
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{ 'b', "B" }, // bytes
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{ 'B', "B/s" }, // bytes per second
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{ 'k', "deg/s" }, // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
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{ 'D', "deglatitude" }, // degrees of latitude
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{ 'e', "deg/s/s" }, // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly than radians
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{ 'E', "rad/s" }, // radians per second
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{ 'G', "Gauss" }, // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
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{ 'h', "degheading" }, // 0.? to 359.?
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{ 'i', "A.s" }, // Ampere second
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{ 'J', "W.s" }, // Joule (Watt second)
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{ 'l', "l" }, // litres
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{ 'L', "rad/s/s" }, // radians per second per second
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{ 'm', "m" }, // metres
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{ 'n', "m/s" }, // metres per second
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// { 'N', "N" }, // Newton
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{ 'o', "m/s/s" }, // metres per second per second
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{ 'O', "degC" }, // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users
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{ '%', "%" }, // percent
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{ 'S', "satellites" }, // number of satellites
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{ 's', "s" }, // seconds
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{ 't', "N.m" }, // Newton meters, torque
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{ 'q', "rpm" }, // rounds per minute. Not SI, but sometimes more intuitive than Hertz
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{ 'r', "rad" }, // radians
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{ 'U', "deglongitude" }, // degrees of longitude
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{ 'u', "ppm" }, // pulses per minute
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{ 'v', "V" }, // Volt
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{ 'P', "Pa" }, // Pascal
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{ 'w', "Ohm" }, // Ohm
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{ 'W', "Watt" }, // Watt
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{ 'X', "W.h" }, // Watt hour
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{ 'y', "l/s" }, // litres per second
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{ 'Y', "us" }, // pulse width modulation in microseconds
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{ 'z', "Hz" }, // Hertz
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{ '#', "instance" } // (e.g.)Sensor instance number
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};
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// this multiplier information applies to the raw value present in the
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// log. Any adjustment implied by the format field (e.g. the "centi"
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// in "centidegrees" is *IGNORED* for the purposes of scaling.
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// Essentially "format" simply tells you the C-type, and format-type h
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// (int16_t) is equivalent to format-type c (int16_t*100)
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// tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name
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const struct MultiplierStructure log_Multipliers[] = {
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{ '-', 0 }, // no multiplier e.g. a string
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{ '?', 1 }, // multipliers which haven't been worked out yet....
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// <leave a gap here, just in case....>
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{ '2', 1e2 },
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{ '1', 1e1 },
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{ '0', 1e0 },
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{ 'A', 1e-1 },
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{ 'B', 1e-2 },
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{ 'C', 1e-3 },
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{ 'D', 1e-4 },
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{ 'E', 1e-5 },
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{ 'F', 1e-6 },
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{ 'G', 1e-7 },
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{ 'I', 1e-9 },
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// <leave a gap here, just in case....>
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{ '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s)
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{ '/', 3600 }, // (ampere*second => ampere*hour)
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};
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/*
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unfortunately these need to be macros because of a limitation of
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named member structure initialisation in g++
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*/
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#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
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#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
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#define LOG_PACKET_HEADER_LEN 3 // bytes required for LOG_PACKET_HEADER
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// once the logging code is all converted we will remove these from
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// this header
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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#include <AP_Beacon/LogStructure.h>
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#include <AP_DAL/LogStructure.h>
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#include <AP_NavEKF2/LogStructure.h>
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#include <AP_NavEKF3/LogStructure.h>
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#include <AP_GPS/LogStructure.h>
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#include <AP_NavEKF/LogStructure.h>
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#include <AP_BattMonitor/LogStructure.h>
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#include <AP_InertialSensor/LogStructure.h>
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#include <AP_AHRS/LogStructure.h>
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#include <AP_Camera/LogStructure.h>
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#include <AP_Mount/LogStructure.h>
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#include <AP_Baro/LogStructure.h>
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#include <AP_CANManager/LogStructure.h>
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#include <AP_VisualOdom/LogStructure.h>
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#include <AC_PrecLand/LogStructure.h>
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#include <AP_Proximity/LogStructure.h>
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#include <AC_Avoidance/LogStructure.h>
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#include <AP_ESC_Telem/LogStructure.h>
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#include <AP_AIS/LogStructure.h>
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#include <AP_HAL_ChibiOS/LogStructure.h>
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#include <AP_RPM/LogStructure.h>
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#include <AC_Fence/LogStructure.h>
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#include <AP_Landing/LogStructure.h>
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#include <AC_AttitudeControl/LogStructure.h>
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#include <AP_HAL/LogStructure.h>
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#include <AP_Mission/LogStructure.h>
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#include <AP_Servo_Telem/LogStructure.h>
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// structure used to define logging format
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// It is packed on ChibiOS to save flash space; however, this causes problems
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// when building the SITL on an Apple M1 CPU (and is also slower) so we do not
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// pack it by default
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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struct PACKED LogStructure {
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#else
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struct LogStructure {
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#endif
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uint8_t msg_type;
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uint8_t msg_len;
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const char *name;
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const char *format;
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const char *labels;
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const char *units;
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const char *multipliers;
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bool streaming; // can be rate limited
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};
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// maximum lengths of fields in LogStructure, including trailing nulls
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static const uint8_t LS_NAME_SIZE = 5;
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static const uint8_t LS_FORMAT_SIZE = 17;
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static const uint8_t LS_LABELS_SIZE = 65;
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static const uint8_t LS_UNITS_SIZE = 17;
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static const uint8_t LS_MULTIPLIERS_SIZE = 17;
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/*
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log structures common to all vehicle types
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*/
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struct PACKED log_Format {
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LOG_PACKET_HEADER;
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uint8_t type;
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uint8_t length;
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char name[4];
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char format[16];
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char labels[64];
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};
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struct PACKED log_Unit {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char type;
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char unit[64]; // you know, this might be overkill...
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};
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struct PACKED log_Format_Multiplier {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char type;
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double multiplier;
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};
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struct PACKED log_Format_Units {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t format_type;
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char units[16];
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char multipliers[16];
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};
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struct PACKED log_Parameter {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char name[16];
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float value;
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float default_value;
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};
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struct PACKED log_DSF {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t dropped;
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uint16_t blocks;
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uint32_t bytes;
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uint32_t buf_space_min;
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uint32_t buf_space_max;
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uint32_t buf_space_avg;
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};
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struct PACKED log_Event {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t id;
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};
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struct PACKED log_Error {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t sub_system;
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uint8_t error_code;
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};
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struct PACKED log_Message {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char msg[64];
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};
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struct PACKED log_RCIN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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uint16_t chan9;
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uint16_t chan10;
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uint16_t chan11;
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uint16_t chan12;
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uint16_t chan13;
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uint16_t chan14;
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};
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struct PACKED log_RCI2 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan15;
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uint16_t chan16;
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uint16_t override_mask;
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uint8_t flags;
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};
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struct PACKED log_RCOUT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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uint16_t chan9;
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uint16_t chan10;
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uint16_t chan11;
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uint16_t chan12;
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uint16_t chan13;
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uint16_t chan14;
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};
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struct PACKED log_RCOUT2 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan15;
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uint16_t chan16;
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uint16_t chan17;
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uint16_t chan18;
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};
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struct PACKED log_MAV {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t chan;
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uint16_t packet_tx_count;
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uint16_t packet_rx_success_count;
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uint16_t packet_rx_drop_count;
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uint8_t flags;
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uint16_t stream_slowdown_ms;
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uint16_t times_full;
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};
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struct PACKED log_RSSI {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float RXRSSI;
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float RXLQ;
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};
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struct PACKED log_Optflow {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t surface_quality;
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float flow_x;
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float flow_y;
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float body_x;
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float body_y;
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};
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struct PACKED log_POWR {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float Vcc;
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float Vservo;
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uint16_t flags;
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uint16_t accumulated_flags;
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uint8_t safety_and_arm;
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};
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struct PACKED log_MCU {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float MCU_temp;
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float MCU_voltage;
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float MCU_voltage_min;
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float MCU_voltage_max;
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};
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struct PACKED log_MAVLink_Command {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t target_system;
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uint8_t target_component;
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uint8_t source_system;
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uint8_t source_component;
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uint8_t frame;
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uint16_t command;
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float param1;
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float param2;
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float param3;
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float param4;
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int32_t x;
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int32_t y;
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float z;
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uint8_t result;
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bool was_command_long;
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};
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struct PACKED log_Radio {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t rssi;
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uint8_t remrssi;
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uint8_t txbuf;
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uint8_t noise;
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uint8_t remnoise;
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uint16_t rxerrors;
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uint16_t fixed;
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};
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struct PACKED log_PID {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float target;
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float actual;
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float error;
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float P;
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float I;
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float D;
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float FF;
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float DFF;
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float Dmod;
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float slew_rate;
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uint8_t flags;
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};
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struct PACKED log_WheelEncoder {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float distance_0;
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uint8_t quality_0;
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float distance_1;
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uint8_t quality_1;
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};
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struct PACKED log_ADSB {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t ICAO_address;
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int32_t lat;
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int32_t lng;
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int32_t alt;
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uint16_t heading;
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uint16_t hor_velocity;
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int16_t ver_velocity;
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uint16_t squawk;
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};
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struct PACKED log_MAG {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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int16_t offset_x;
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int16_t offset_y;
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int16_t offset_z;
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int16_t motor_offset_x;
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int16_t motor_offset_y;
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int16_t motor_offset_z;
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uint8_t health;
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uint32_t SUS;
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};
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struct PACKED log_Mode {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t mode;
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uint8_t mode_num;
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uint8_t mode_reason;
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};
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/*
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rangefinder - support for 4 sensors
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*/
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struct PACKED log_RFND {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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uint16_t dist;
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uint8_t status;
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uint8_t orient;
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int8_t quality;
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};
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/*
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terrain log structure
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*/
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struct PACKED log_TERRAIN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t status;
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int32_t lat;
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int32_t lng;
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uint16_t spacing;
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float terrain_height;
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float current_height;
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uint16_t pending;
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uint16_t loaded;
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float reference_offset;
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};
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struct PACKED log_ARSP {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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float airspeed;
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float diffpressure;
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int16_t temperature;
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float rawpressure;
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float offset;
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bool use;
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bool healthy;
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float health_prob;
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float test_ratio;
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uint8_t primary;
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};
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struct PACKED log_MAV_Stats {
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LOG_PACKET_HEADER;
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uint64_t timestamp;
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uint32_t seqno;
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uint32_t dropped;
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uint32_t retries;
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uint32_t resends;
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uint8_t state_free_avg;
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uint8_t state_free_min;
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uint8_t state_free_max;
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uint8_t state_pending_avg;
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uint8_t state_pending_min;
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uint8_t state_pending_max;
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uint8_t state_sent_avg;
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uint8_t state_sent_min;
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uint8_t state_sent_max;
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// uint8_t state_retry_avg;
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// uint8_t state_retry_min;
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// uint8_t state_retry_max;
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};
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struct PACKED log_Rally {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t total;
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uint8_t sequence;
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int32_t latitude;
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int32_t longitude;
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int16_t altitude;
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uint8_t flags;
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};
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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;
|
|
uint64_t rtc;
|
|
};
|
|
|
|
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_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;
|
|
};
|
|
|
|
// 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;
|
|
uint8_t filter_version;
|
|
};
|
|
|
|
|
|
// 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,DFF,Dmod,SRate,Flags"
|
|
#define PID_FMT "QffffffffffB"
|
|
#define PID_UNITS "s-----------"
|
|
#define PID_MULTS "F-----------"
|
|
|
|
// @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: 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: 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: Weight on wheels state
|
|
// @FieldValueEnum: WeightOnWheels: AP_LandingGear::LG_WOW_State
|
|
|
|
// @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 state 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 rotational velocity, X-axis
|
|
// @Field: bodyY: derived rotational 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
|
|
// @Description: Proportional/Integral/Derivative gain values for Roll rate
|
|
// @LoggerMessage: PIDP
|
|
// @Description: Proportional/Integral/Derivative gain values for Pitch rate
|
|
// @LoggerMessage: PIDY
|
|
// @Description: Proportional/Integral/Derivative gain values for Yaw rate
|
|
// @LoggerMessage: PIDA
|
|
// @Description: Proportional/Integral/Derivative gain values for vertical acceleration
|
|
// @LoggerMessage: PIDS
|
|
// @Description: Proportional/Integral/Derivative gain values for ground steering yaw rate
|
|
// @LoggerMessage: PIDN
|
|
// @Description: Proportional/Integral/Derivative gain values for North/South velocity
|
|
// @LoggerMessage: PIDE
|
|
// @Description: Proportional/Integral/Derivative gain values for East/West velocity
|
|
// @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: DFF: controller derivative 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: Flags: bitmask of PID state flags
|
|
// @FieldBitmaskEnum: Flags: log_PID_Flags
|
|
|
|
// @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: InE: Internal error mask; which internal errors have been detected
|
|
// @FieldBitmaskEnum: InE: AP_InternalError::error_t
|
|
// @Field: ErrL: Internal error line number; last line number on which a internal error was detected
|
|
// @Field: ErC: 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
|
|
// @Field: R: RTC time, time since Unix epoch
|
|
|
|
// @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
|
|
// @FieldBitmaskEnum: Flags: AP_HAL::AnalogIn::PowerStatusFlag
|
|
// @Field: AccFlags: Accumulated System power flags; all flags which have ever been set
|
|
// @FieldBitmaskEnum: AccFlags: AP_HAL::AnalogIn::PowerStatusFlag
|
|
// @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
|
|
// @Field: Flags: altitude frame flags
|
|
|
|
// @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
|
|
// @Field: Flags: bitmask of RC state flags
|
|
// @FieldBitmaskEnum: Flags: AP_Logger::RCLoggingFlags
|
|
|
|
// @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
|
|
// @Field: Quality: Signal quality. -1 means invalid, 0 is no signal, 100 is perfect signal
|
|
|
|
// @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::Action
|
|
// @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: 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: FILE
|
|
// @Description: File data
|
|
// @Field: FileName: File name
|
|
// @Field: Offset: Offset into the file of this block
|
|
// @Field: Length: Length of this data block
|
|
// @Field: Data: File data of this block
|
|
|
|
// @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: VER
|
|
// @Description: Ardupilot version
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: BT: Board type
|
|
// @FieldValueEnum: BT: HAL_BOARD
|
|
// @Field: BST: Board subtype
|
|
// @FieldValueEnum: BST: HAL_BOARD_SUBTYPE
|
|
// @Field: Maj: Major version number
|
|
// @Field: Min: Minor version number
|
|
// @Field: Pat: Patch number
|
|
// @Field: FWT: Firmware type
|
|
// @Field: GH: Github commit
|
|
// @Field: FWS: Firmware version string
|
|
// @Field: APJ: Board ID
|
|
// @Field: BU: Build vehicle type
|
|
// @FieldValueEnum: BU: APM_BUILD
|
|
// @Field: FV: Filter version
|
|
|
|
// @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_RCI2_MSG, sizeof(log_RCI2), \
|
|
"RCI2", "QHHHB", "TimeUS,C15,C16,OMask,Flags", "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_CANMANAGER \
|
|
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_STRUCTURE_FROM_MISSION \
|
|
{ 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_STRUCTURE_FROM_MOUNT \
|
|
{ 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", "QBCBBb", "TimeUS,Instance,Dist,Stat,Orient,Quality", "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", "QHHHIIHHIIIIIIQ", "TimeUS,LR,NLon,NL,MaxT,Mem,Load,ErrL,InE,ErC,SPIC,I2CC,I2CI,Ex,R", "sz---b%------ss", "F----0A------FF" }, \
|
|
{ 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----", "FBBB0GG0000", 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_STRUCTURE_FROM_SERVO_TELEM \
|
|
{ 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_STRUCTURE_FROM_LANDING \
|
|
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_HAL \
|
|
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", "QBBLLhB", "TimeUS,Tot,Seq,Lat,Lng,Alt,Flags", "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-EEEE", "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_STRUCTURE_FROM_AC_ATTITUDECONTROL, \
|
|
{ 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", "QBHBBBBIZHBB", "TimeUS,BT,BST,Maj,Min,Pat,FWT,GH,FWS,APJ,BU,FV", "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 31 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_RCI2_MSG,
|
|
LOG_RCOUT_MSG,
|
|
LOG_RSSI_MSG,
|
|
LOG_IDS_FROM_BARO,
|
|
LOG_IDS_FROM_CANMANAGER,
|
|
LOG_POWR_MSG,
|
|
LOG_MCU_MSG,
|
|
LOG_IDS_FROM_AHRS,
|
|
LOG_SIMSTATE_MSG,
|
|
LOG_MAVLINK_COMMAND_MSG,
|
|
LOG_RADIO_MSG,
|
|
LOG_ATRP_MSG,
|
|
LOG_IDS_FROM_CAMERA,
|
|
LOG_IDS_FROM_MOUNT,
|
|
LOG_TERRAIN_MSG,
|
|
LOG_IDS_FROM_SERVO_TELEM,
|
|
LOG_IDS_FROM_ESC_TELEM,
|
|
LOG_IDS_FROM_BATTMONITOR,
|
|
LOG_IDS_FROM_HAL_CHIBIOS,
|
|
LOG_IDS_FROM_MISSION,
|
|
|
|
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_IDS_FROM_LANDING,
|
|
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_IDS_FROM_AC_ATTITUDECONTROL,
|
|
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_IDS_FROM_HAL,
|
|
|
|
_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");
|