mirror of https://github.com/ArduPilot/ardupilot
89 lines
3.4 KiB
C
89 lines
3.4 KiB
C
#pragma once
|
|
|
|
#include <AP_Logger/LogStructure.h>
|
|
|
|
// @LoggerMessage: XKY0,NKY0
|
|
// @Description: EKF Yaw Estimator States
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: C: EKF 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_KY0 {
|
|
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: XKY1,NKY1
|
|
// @Description: EKF Yaw Estimator Innovations
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: C: EKF 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_KY1 {
|
|
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 KY0_FMT "QBffffffffffff"
|
|
#define KY0_LABELS "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4"
|
|
#define KY0_UNITS "s#rrrrrrr-----"
|
|
#define KY0_MULTS "F-000000000000"
|
|
|
|
#define KY1_FMT "QBffffffffff"
|
|
#define KY1_LABELS "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4"
|
|
#define KY1_UNITS "s#nnnnnnnnnn"
|
|
#define KY1_MULTS "F-0000000000"
|
|
|
|
#define LOG_STRUCTURE_FROM_NAVEKF \
|
|
{ LOG_XKY0_MSG, sizeof(log_KY0), \
|
|
"XKY0", KY0_FMT, KY0_LABELS, KY0_UNITS, KY0_MULTS, true }, \
|
|
{ LOG_XKY1_MSG, sizeof(log_KY1), \
|
|
"XKY1", KY1_FMT, KY1_LABELS, KY1_UNITS, KY1_MULTS , true }, \
|
|
{ LOG_NKY0_MSG, sizeof(log_KY0), \
|
|
"NKY0", KY0_FMT, KY0_LABELS, KY0_UNITS, KY0_MULTS, true }, \
|
|
{ LOG_NKY1_MSG, sizeof(log_KY1), \
|
|
"NKY1", KY1_FMT, KY1_LABELS, KY1_UNITS, KY1_MULTS , true },
|