mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.5 KiB
C
108 lines
3.5 KiB
C
#pragma once
|
|
|
|
#include <AP_Logger/LogStructure.h>
|
|
|
|
#define LOG_IDS_FROM_AC_ATTITUDECONTROL \
|
|
LOG_PSCN_MSG, \
|
|
LOG_PSCE_MSG, \
|
|
LOG_PSCD_MSG
|
|
|
|
// @LoggerMessage: PSCN
|
|
// @Description: Position Control North
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: TPN: Target position relative to EKF origin
|
|
// @Field: PN: Position relative to EKF origin
|
|
// @Field: DVN: Desired velocity North
|
|
// @Field: TVN: Target velocity North
|
|
// @Field: VN: Velocity North
|
|
// @Field: DAN: Desired acceleration North
|
|
// @Field: TAN: Target acceleration North
|
|
// @Field: AN: Acceleration North
|
|
|
|
// @LoggerMessage: PSCE
|
|
// @Description: Position Control East
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: TPE: Target position relative to EKF origin
|
|
// @Field: PE: Position relative to EKF origin
|
|
// @Field: DVE: Desired velocity East
|
|
// @Field: TVE: Target velocity East
|
|
// @Field: VE: Velocity East
|
|
// @Field: DAE: Desired acceleration East
|
|
// @Field: TAE: Target acceleration East
|
|
// @Field: AE: Acceleration East
|
|
|
|
// @LoggerMessage: PSCD
|
|
// @Description: Position Control Down
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: TPD: Target position relative to EKF origin
|
|
// @Field: PD: Position relative to EKF origin
|
|
// @Field: DVD: Desired velocity Down
|
|
// @Field: TVD: Target velocity Down
|
|
// @Field: VD: Velocity Down
|
|
// @Field: DAD: Desired acceleration Down
|
|
// @Field: TAD: Target acceleration Down
|
|
// @Field: AD: Acceleration Down
|
|
|
|
|
|
// position controller per-axis logging
|
|
struct PACKED log_PSCx {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float pos_target;
|
|
float pos;
|
|
float vel_desired;
|
|
float vel_target;
|
|
float vel;
|
|
float accel_desired;
|
|
float accel_target;
|
|
float accel;
|
|
};
|
|
|
|
// @LoggerMessage: RATE
|
|
// @Description: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: RDes: vehicle desired roll rate
|
|
// @Field: R: achieved vehicle roll rate
|
|
// @Field: ROut: normalized output for Roll
|
|
// @Field: PDes: vehicle desired pitch rate
|
|
// @Field: P: vehicle pitch rate
|
|
// @Field: POut: normalized output for Pitch
|
|
// @Field: Y: achieved vehicle yaw rate
|
|
// @Field: YOut: normalized output for Yaw
|
|
// @Field: YDes: vehicle desired yaw rate
|
|
// @Field: ADes: desired vehicle vertical acceleration
|
|
// @Field: A: achieved vehicle vertical acceleration
|
|
// @Field: AOut: percentage of vertical thrust output current being used
|
|
// @Field: AOutSlew: vertical thrust output slew rate
|
|
struct PACKED log_Rate {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float control_roll;
|
|
float roll;
|
|
float roll_out;
|
|
float control_pitch;
|
|
float pitch;
|
|
float pitch_out;
|
|
float control_yaw;
|
|
float yaw;
|
|
float yaw_out;
|
|
float control_accel;
|
|
float accel;
|
|
float accel_out;
|
|
float throttle_slew;
|
|
};
|
|
|
|
#define PSCx_FMT "Qffffffff"
|
|
#define PSCx_UNITS "smmnnnooo"
|
|
#define PSCx_MULTS "F00000000"
|
|
|
|
#define LOG_STRUCTURE_FROM_AC_ATTITUDECONTROL \
|
|
{ LOG_PSCN_MSG, sizeof(log_PSCx), \
|
|
"PSCN", PSCx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PSCx_UNITS, PSCx_MULTS }, \
|
|
{ LOG_PSCE_MSG, sizeof(log_PSCx), \
|
|
"PSCE", PSCx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PSCx_UNITS, PSCx_MULTS }, \
|
|
{ LOG_PSCD_MSG, sizeof(log_PSCx), \
|
|
"PSCD", PSCx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PSCx_UNITS, PSCx_MULTS }, \
|
|
{ LOG_RATE_MSG, sizeof(log_Rate), \
|
|
"RATE", "Qfffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut,AOutSlew", "skk-kk-kk-oo--", "F?????????BB--" , true }
|