mirror of https://github.com/ArduPilot/ardupilot
373 lines
14 KiB
C
373 lines
14 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_NAVEKF2 \
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LOG_NKF0_MSG, \
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LOG_NKF1_MSG, \
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LOG_NKF2_MSG, \
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LOG_NKF3_MSG, \
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LOG_NKF4_MSG, \
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LOG_NKF5_MSG, \
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LOG_NKQ_MSG, \
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LOG_NKT_MSG, \
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LOG_NKY0_MSG, \
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LOG_NKY1_MSG
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// @LoggerMessage: NKF0
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// @Description: EKF2 beacon sensor diagnostics
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: ID: Beacon sensor ID
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// @Field: rng: Beacon range
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// @Field: innov: Beacon range innovation
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// @Field: SIV: sqrt of beacon range innovation variance
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// @Field: TR: Beacon range innovation consistency test ratio
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// @Field: BPN: Beacon north position
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// @Field: BPE: Beacon east position
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// @Field: BPD: Beacon down position
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// @Field: OFH: High estimate of vertical position offset of beacons rel to EKF origin
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// @Field: OFL: Low estimate of vertical position offset of beacons rel to EKF origin
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// @Field: OFN: always zero
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// @Field: OFE: always zero
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// @Field: OFD: always zero
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struct PACKED log_NKF0 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint8_t ID; // beacon identifier
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int16_t rng; // beacon range (cm)
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int16_t innov; // beacon range innovation (cm)
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uint16_t sqrtInnovVar; // sqrt of beacon range innovation variance (cm)
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uint16_t testRatio; // beacon range innovation consistency test ratio *100
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int16_t beaconPosN; // beacon north position (cm)
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int16_t beaconPosE; // beacon east position (cm)
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int16_t beaconPosD; // beacon down position (cm)
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int16_t offsetHigh; // high estimate of vertical position offset of beacons rel to EKF origin (cm)
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int16_t offsetLow; // low estimate of vertical position offset of beacons rel to EKF origin (cm)
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int16_t posN; // North position of receiver rel to EKF origin (cm)
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int16_t posE; // East position of receiver rel to EKF origin (cm)
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int16_t posD; // Down position of receiver rel to EKF origin (cm)
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};
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// @LoggerMessage: NKF1
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// @Description: EKF2 estimator outputs
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: Roll: Estimated roll
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// @Field: Pitch: Estimated pitch
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// @Field: Yaw: Estimated yaw
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// @Field: VN: Estimated velocity (North component)
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// @Field: VE: Estimated velocity (East component)
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// @Field: VD: Estimated velocity (Down component)
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// @Field: dPD: Filtered derivative of vertical position (down)
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// @Field: PN: Estimated distance from origin (North component)
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// @Field: PE: Estimated distance from origin (East component)
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// @Field: PD: Estimated distance from origin (Down component)
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// @Field: GX: Estimated gyro bias, X axis
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// @Field: GY: Estimated gyro bias, Y axis
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// @Field: GZ: Estimated gyro bias, Z axis
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// @Field: OH: Height of origin above WGS-84
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struct PACKED log_NKF1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float velN;
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float velE;
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float velD;
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float posD_dot;
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float posN;
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float posE;
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float posD;
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int16_t gyrX;
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int16_t gyrY;
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int16_t gyrZ;
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int32_t originHgt;
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};
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// @LoggerMessage: NKF2
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// @Description: EKF2 estimator secondary outputs
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: AZbias: Estimated accelerometer Z bias
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// @Field: GSX: Gyro Scale Factor (X-axis)
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// @Field: GSY: Gyro Scale Factor (Y-axis)
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// @Field: GSZ: Gyro Scale Factor (Z-axis)
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// @Field: VWN: Estimated wind velocity (North component)
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// @Field: VWE: Estimated wind velocity (East component)
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// @Field: MN: Magnetic field strength (North component)
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// @Field: ME: Magnetic field strength (East component)
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// @Field: MD: Magnetic field strength (Down component)
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// @Field: MX: Magnetic field strength (body X-axis)
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// @Field: MY: Magnetic field strength (body Y-axis)
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// @Field: MZ: Magnetic field strength (body Z-axis)
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// @Field: MI: Magnetometer used for data
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struct PACKED log_NKF2 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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int8_t AZbias;
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int16_t scaleX;
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int16_t scaleY;
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int16_t scaleZ;
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int16_t windN;
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int16_t windE;
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int16_t magN;
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int16_t magE;
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int16_t magD;
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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uint8_t index;
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};
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// @LoggerMessage: NKF3
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// @Description: EKF2 innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: IVN: Innovation in velocity (North component)
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// @Field: IVE: Innovation in velocity (East component)
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// @Field: IVD: Innovation in velocity (Down component)
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// @Field: IPN: Innovation in position (North component)
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// @Field: IPE: Innovation in position (East component)
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// @Field: IPD: Innovation in position (Down component)
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// @Field: IMX: Innovation in magnetic field strength (X-axis component)
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// @Field: IMY: Innovation in magnetic field strength (Y-axis component)
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// @Field: IMZ: Innovation in magnetic field strength (Z-axis component)
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// @Field: IYAW: Innovation in vehicle yaw
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// @Field: IVT: Innovation in true-airspeed
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// @Field: RErr: Accumulated relative error of this core with respect to active primary core
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// @Field: ErSc: A consolidated error score where higher numbers are less healthy
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struct PACKED log_NKF3 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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int16_t innovVN;
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int16_t innovVE;
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int16_t innovVD;
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int16_t innovPN;
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int16_t innovPE;
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int16_t innovPD;
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int16_t innovMX;
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int16_t innovMY;
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int16_t innovMZ;
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int16_t innovYaw;
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int16_t innovVT;
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float rerr;
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float errorScore;
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};
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// @LoggerMessage: NKF4
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// @Description: EKF2 variances
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: SV: Square root of the velocity variance
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// @Field: SP: Square root of the position variance
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// @Field: SH: Square root of the height variance
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// @Field: SM: Magnetic field variance
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// @Field: SVT: tilt error convergence metric
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// @Field: errRP: Filtered error in roll/pitch estimate
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// @Field: OFN: Most recent position recent magnitude (North component)
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// @Field: OFE: Most recent position recent magnitude (East component)
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// @Field: FS: Filter fault status
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// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
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// @Field: SS: Filter solution status
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// @Field: GPS: Filter GPS status
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// @Field: PI: Primary core index
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struct PACKED log_NKF4 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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int16_t sqrtvarV;
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int16_t sqrtvarP;
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int16_t sqrtvarH;
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int16_t sqrtvarM;
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int16_t sqrtvarVT;
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float tiltErr;
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int8_t offsetNorth;
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int8_t offsetEast;
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uint16_t faults;
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uint8_t timeouts;
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uint32_t solution;
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uint16_t gps;
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int8_t primary;
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};
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// @LoggerMessage: NKF5
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// @Description: EKF2 Sensor innovations (primary core) and general dumping ground
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: NI: Normalised flow variance
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// @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis)
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// @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis)
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// @Field: AFI: Optical flow LOS rate innovation from terrain offset estimator
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// @Field: HAGL: Height above ground level
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// @Field: offset: Estimated vertical position of the terrain relative to the nav filter zero datum
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// @Field: RI: Range finder innovations
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// @Field: rng: Measured range
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// @Field: Herr: Filter ground offset state error
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// @Field: eAng: Magnitude of angular error
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// @Field: eVel: Magnitude of velocity error
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// @Field: ePos: Magnitude of position error
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struct PACKED log_NKF5 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint8_t normInnov;
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int16_t FIX;
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int16_t FIY;
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int16_t AFI;
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int16_t HAGL;
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int16_t offset;
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int16_t RI;
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uint16_t meaRng;
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uint16_t errHAGL;
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float angErr;
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float velErr;
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float posErr;
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};
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// @LoggerMessage: NKQ
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// @Description: EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: Q1: Quaternion a term
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// @Field: Q2: Quaternion b term
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// @Field: Q3: Quaternion c term
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// @Field: Q4: Quaternion d term
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struct PACKED log_NKQ {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float q1;
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float q2;
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float q3;
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float q4;
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};
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// @LoggerMessage: NKT
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// @Description: EKF2 timing information
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: Cnt: count of samples used to create this message
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// @Field: IMUMin: smallest IMU sample interval
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// @Field: IMUMax: largest IMU sample interval
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// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum)
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// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum)
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// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum)
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// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum)
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// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum)
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// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum)
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struct PACKED log_NKT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint32_t timing_count;
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float dtIMUavg_min;
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float dtIMUavg_max;
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float dtEKFavg_min;
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float dtEKFavg_max;
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float delAngDT_min;
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float delAngDT_max;
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float delVelDT_min;
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float delVelDT_max;
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};
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// @LoggerMessage: NKY0
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// @Description: EKF2 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: YC: GSF yaw estimate (rad)
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
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// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0
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// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1
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// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2
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// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3
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// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4
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struct PACKED log_NKY0 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float yaw_composite;
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float yaw_composite_variance;
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float yaw0;
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float yaw1;
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float yaw2;
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float yaw3;
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float yaw4;
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float wgt0;
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float wgt1;
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float wgt2;
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float wgt3;
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float wgt4;
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};
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// @LoggerMessage: NKY1
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// @Description: EKF2 Yaw Estimator Innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF2 core this data is for
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// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s)
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// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s)
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struct PACKED log_NKY1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float ivn0;
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float ivn1;
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float ivn2;
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float ivn3;
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float ivn4;
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float ive0;
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float ive1;
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float ive2;
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float ive3;
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float ive4;
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};
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#define LOG_STRUCTURE_FROM_NAVEKF2 \
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{ LOG_NKF0_MSG, sizeof(log_NKF0), \
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"NKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \
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{ LOG_NKF1_MSG, sizeof(log_NKF1), \
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"NKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
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{ LOG_NKF2_MSG, sizeof(log_NKF2), \
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"NKF2","QBbccccchhhhhhB","TimeUS,C,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#----nnGGGGGG-", "F-----BBCCCCCC-" }, \
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{ LOG_NKF3_MSG, sizeof(log_NKF3), \
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"NKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
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{ LOG_NKF4_MSG, sizeof(log_NKF4), \
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"NKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
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{ LOG_NKF5_MSG, sizeof(log_NKF5), \
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"NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
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{ LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \
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{ LOG_NKT_MSG, sizeof(log_NKT), \
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"NKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \
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{ LOG_NKY0_MSG, sizeof(log_NKY0), \
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"NKY0", "QBffffffffffff", "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4", "s#rrrrrrr-----", "F-000000000000"}, \
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{ LOG_NKY1_MSG, sizeof(log_NKY1), \
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"NKY1", "QBffffffffff", "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4", "s#nnnnnnnnnn", "F-0000000000"},
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