mirror of https://github.com/ArduPilot/ardupilot
156 lines
5.0 KiB
C
156 lines
5.0 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_AHRS \
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LOG_AHR2_MSG, \
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LOG_AOA_SSA_MSG, \
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LOG_ATTITUDE_MSG, \
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LOG_ORGN_MSG, \
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LOG_POS_MSG, \
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LOG_RATE_MSG
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// @LoggerMessage: AHR2
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// @Description: Backup AHRS data
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// @Field: TimeUS: Time since system startup
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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: Alt: Estimated altitude
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// @Field: Lat: Estimated latitude
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// @Field: Lng: Estimated longitude
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// @Field: Q1: Estimated attitude quaternion component 1
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// @Field: Q2: Estimated attitude quaternion component 2
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// @Field: Q3: Estimated attitude quaternion component 3
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// @Field: Q4: Estimated attitude quaternion component 4
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struct PACKED log_AHRS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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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 alt;
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int32_t lat;
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int32_t lng;
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float q1, q2, q3, q4;
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};
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// @LoggerMessage: AOA
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// @Description: Angle of attack and Side Slip Angle values
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// @Field: TimeUS: Time since system startup
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// @Field: AOA: Angle of Attack calculated from airspeed, wind vector,velocity vector
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// @Field: SSA: Side Slip Angle calculated from airspeed, wind vector,velocity vector
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struct PACKED log_AOA_SSA {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float AOA;
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float SSA;
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};
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// @LoggerMessage: ATT
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// @Description: Canonical vehicle attitude
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// @Field: TimeUS: Time since system startup
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// @Field: DesRoll: vehicle desired roll
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// @Field: Roll: achieved vehicle roll
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// @Field: DesPitch: vehicle desired pitch
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// @Field: Pitch: achieved vehicle pitch
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// @Field: DesYaw: vehicle desired yaw
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// @Field: Yaw: achieved vehicle yaw
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// @Field: ErrRP: lowest estimated gyro drift error
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// @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
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// @Field: AEKF: active EKF type
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struct PACKED log_Attitude {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t control_roll;
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int16_t roll;
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int16_t control_pitch;
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int16_t pitch;
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uint16_t control_yaw;
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uint16_t yaw;
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uint16_t error_rp;
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uint16_t error_yaw;
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uint8_t active;
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};
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// @LoggerMessage: ORGN
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// @Description: Vehicle navigation origin or other notable position
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// @Field: TimeUS: Time since system startup
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// @Field: Type: Position type
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// @Field: Lat: Position latitude
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// @Field: Lng: Position longitude
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// @Field: Alt: Position altitude
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struct PACKED log_ORGN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t origin_type;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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};
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// @LoggerMessage: POS
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// @Description: Canonical vehicle position
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// @Field: TimeUS: Time since system startup
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// @Field: Lat: Canonical vehicle latitude
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// @Field: Lng: Canonical vehicle longitude
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// @Field: Alt: Canonical vehicle altitude
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// @Field: RelHomeAlt: Canonical vehicle altitude relative to home
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// @Field: RelOriginAlt: Canonical vehicle altitude relative to navigation origin
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struct PACKED log_POS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int32_t lat;
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int32_t lng;
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float alt;
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float rel_home_alt;
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float rel_origin_alt;
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};
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// @LoggerMessage: RATE
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// @Description: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.
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// @Field: TimeUS: Time since system startup
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// @Field: RDes: vehicle desired roll rate
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// @Field: R: achieved vehicle roll rate
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// @Field: ROut: normalized output for Roll
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// @Field: PDes: vehicle desired pitch rate
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// @Field: P: vehicle pitch rate
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// @Field: POut: normalized output for Pitch
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// @Field: Y: achieved vehicle yaw rate
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// @Field: YOut: normalized output for Yaw
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// @Field: YDes: vehicle desired yaw rate
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// @Field: ADes: desired vehicle vertical acceleration
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// @Field: A: achieved vehicle vertical acceleration
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// @Field: AOut: percentage of vertical thrust output current being used
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struct PACKED log_Rate {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float control_roll;
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float roll;
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float roll_out;
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float control_pitch;
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float pitch;
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float pitch_out;
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float control_yaw;
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float yaw;
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float yaw_out;
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float control_accel;
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float accel;
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float accel_out;
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};
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#define LOG_STRUCTURE_FROM_AHRS \
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{ LOG_AHR2_MSG, sizeof(log_AHRS), \
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"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBB0GG????" , true }, \
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{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA), \
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"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" , true }, \
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{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
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"ATT", "QccccCCCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" , true }, \
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{ LOG_ORGN_MSG, sizeof(log_ORGN), \
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"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" }, \
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{ LOG_POS_MSG, sizeof(log_POS), \
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"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \
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{ LOG_RATE_MSG, sizeof(log_Rate), \
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"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" , true },
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