ardupilot/libraries/AP_Logger
Peter Barker f84cb66bc6 AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
..
examples AP_Logger: make block logger conform to mavlink expectations of numbering 2020-09-05 10:20:39 +10:00
AP_Logger.cpp AP_Logger: allow for replay with both EKF enabled 2020-11-17 13:45:07 +11:00
AP_Logger.h AP_Logger: remove time_us parameter to several sensor logging methods 2020-11-20 16:59:09 +11:00
AP_Logger_Backend.cpp AP_Logger: skip structure validation in replay 2020-11-10 16:15:45 +11:00
AP_Logger_Backend.h AP_Logger: support new replay system 2020-11-10 16:15:45 +11:00
AP_Logger_Block.cpp AP_Logger: account for expected delays and boot time delays in block logger. 2020-11-25 18:17:34 +11:00
AP_Logger_Block.h AP_Logger: stop logs safely in the block logger and asynchronously where possible 2020-09-17 10:45:57 +10:00
AP_Logger_DataFlash.cpp AP_Logger: make block logger conform to mavlink expectations of numbering 2020-09-05 10:20:39 +10:00
AP_Logger_DataFlash.h AP_Logger: mavlink backend needs to be the last backend 2020-01-02 18:18:04 +11:00
AP_Logger_File.cpp AP_Logger: use load_file() 2020-11-18 09:11:36 +11:00
AP_Logger_File.h AP_Logger: allow for retry of log open with LOG_DISARMED=1 2020-10-27 20:35:56 +11:00
AP_Logger_MAVLink.cpp AP_Logger: keep pointer to link rather than using its ->chan 2020-09-25 09:01:00 +10:00
AP_Logger_MAVLink.h AP_Logger: keep pointer to link rather than using its ->chan 2020-09-25 09:01:00 +10:00
AP_Logger_MAVLinkLogTransfer.cpp AP_Logger: make block logger conform to mavlink expectations of numbering 2020-09-05 10:20:39 +10:00
AP_Logger_SITL.cpp AP_Logger: make block logger conform to mavlink expectations of numbering 2020-09-05 10:20:39 +10:00
AP_Logger_SITL.h AP_Logger: mavlink backend needs to be the last backend 2020-01-02 18:18:04 +11:00
LogFile.cpp AP_Logger: remove time_us parameter to several sensor logging methods 2020-11-20 16:59:09 +11:00
LogStructure.h AP_Logger: move log ids from EKF2 and EKF3 to the 'below 128' section' 2020-12-08 11:30:10 +11:00
LoggerMessageWriter.cpp AP_Logger: support new replay system 2020-11-10 16:15:45 +11:00
LoggerMessageWriter.h AP_Logger: support new replay system 2020-11-10 16:15:45 +11:00
README.md AP_Logger: add a README.md to help locating units/mults/fieldtypes 2019-06-04 19:00:11 +10:00

README.md

Logger Notes

Format Types

The format type specifies the amount of storage required for the entry and how the content should be interpreted.

Char C Type
a int16_t[32]
b int8_t
B uint8_t
h int16_t
H uint16_t
i int32_t
I uint32_t
f float
d double
n char[4]
N char[16]
Z char[64]
L int32_t latitude/longitude (so -35.1332423 becomes -351332423)
M uint8_t flight mode
q int64_t
Q uint64_t

Legacy field types - do not use. These have been replaced by using the base C type and an appropriate multiplier column entry.

Char CType+Mult
c int16_t * 100
C uint16_t * 100
e int32_t * 100
E uint32_t * 100

Units

All units here should be base units This does mean battery capacity is here as "amp*second" Please keep the names consistent with Tools/autotest/param_metadata/param.py:33

Char Unit Abbrev. Description
'-' "" no units e.g. Pi
'?' "UNKNOWN" Units which haven't been worked out yet....
'A' "A" Ampere
'd' "deg" of the angular variety
'b' "B" bytes
'k' "deg/s" degrees per second. Degrees are NOT SI
'D' "deglatitude" degrees of latitude
'e' "deg/s/s" degrees per second per second. Degrees are NOT SI
'E' "rad/s" radians per second
'G' "Gauss" Gauss is not an SI unit
'h' "degheading" 0.? to 359.?
'i' "A.s" Ampere second
'J' "W.s" Joule (Watt second)
'l' "l" litres
'L' "rad/s/s" radians per second per second
'm' "m" metres
'n' "m/s" metres per second
'N' "N" Newton
'o' "m/s/s" metres per second per second
'O' "degC" degrees Celsius. Not SI
'%' "%" percent
'S' "satellites" number of satellites
's' "s" seconds
'q' "rpm" rounds per minute. Not SI
'r' "rad" radians
'U' "deglongitude" degrees of longitude
'u' "ppm" pulses per minute
'v' "V" Volt
'P' "Pa" Pascal
'w' "Ohm" Ohm
'Y' "us" pulse width modulation in microseconds
'z' "Hz" Hertz
'#' "instance" (e.g.)Sensor instance number

Multipliers

This multiplier information applies to the raw value present in the log. Any adjustment implied by the format field (e.g. the "centi" in "centidegrees" is IGNORED for the purposes of scaling. Essentially "format" simply tells you the C-type, and format-type h (int16_t) is equivalent to format-type c (int16_t*100) tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name

Char Multiplier
'-' 0
'?' 1
'2' 1e2
'1' 1e1
'0' 1e0
'A' 1e-1
'B' 1e-2
'C' 1e-3
'D' 1e-4
'E' 1e-5
'F' 1e-6
'G' 1e-7
'!' 3.6
'/' 3600