ardupilot/libraries/AP_NavEKF2/LogStructure.h

373 lines
14 KiB
C

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