mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.2 KiB
C
72 lines
2.2 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_AC_ATTITUDECONTROL \
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LOG_PSCN_MSG, \
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LOG_PSCE_MSG, \
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LOG_PSCD_MSG
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// @LoggerMessage: PSCN
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// @Description: Position Control North
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// @Field: TimeUS: Time since system startup
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// @Field: TPN: Target position relative to EKF origin
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// @Field: PN: Position relative to EKF origin
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// @Field: DVN: Desired velocity North
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// @Field: TVN: Target velocity North
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// @Field: VN: Velocity North
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// @Field: DAN: Desired acceleration North
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// @Field: TAN: Target acceleration North
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// @Field: AN: Acceleration North
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// @LoggerMessage: PSCE
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// @Description: Position Control East
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// @Field: TimeUS: Time since system startup
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// @Field: TPE: Target position relative to EKF origin
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// @Field: PE: Position relative to EKF origin
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// @Field: DVE: Desired velocity East
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// @Field: TVE: Target velocity East
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// @Field: VE: Velocity East
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// @Field: DAE: Desired acceleration East
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// @Field: TAE: Target acceleration East
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// @Field: AE: Acceleration East
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// @LoggerMessage: PSCD
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// @Description: Position Control Down
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// @Field: TimeUS: Time since system startup
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// @Field: TPD: Target position relative to EKF origin
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// @Field: PD: Position relative to EKF origin
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// @Field: DVD: Desired velocity Down
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// @Field: TVD: Target velocity Down
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// @Field: VD: Velocity Down
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// @Field: DAD: Desired acceleration Down
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// @Field: TAD: Target acceleration Down
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// @Field: AD: Acceleration Down
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// position controller per-axis logging
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struct PACKED log_PSCx {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float pos_target;
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float pos;
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float vel_desired;
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float vel_target;
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float vel;
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float accel_desired;
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float accel_target;
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float accel;
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};
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#define PSCx_FMT "Qffffffff"
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#define PSCx_UNITS "smmnnnooo"
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#define PSCx_MULTS "F00000000"
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#define LOG_STRUCTURE_FROM_AC_ATTITUDECONTROL \
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{ LOG_PSCN_MSG, sizeof(log_PSCx), \
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"PSCN", PSCx_FMT, "TimeUS,TPN,PN,DVN,TVN,VN,DAN,TAN,AN", PSCx_UNITS, PSCx_MULTS }, \
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{ LOG_PSCE_MSG, sizeof(log_PSCx), \
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"PSCE", PSCx_FMT, "TimeUS,TPE,PE,DVE,TVE,VE,DAE,TAE,AE", PSCx_UNITS, PSCx_MULTS }, \
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{ LOG_PSCD_MSG, sizeof(log_PSCx), \
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"PSCD", PSCx_FMT, "TimeUS,TPD,PD,DVD,TVD,VD,DAD,TAD,AD", PSCx_UNITS, PSCx_MULTS }
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