mirror of https://github.com/ArduPilot/ardupilot
68 lines
2.7 KiB
C
68 lines
2.7 KiB
C
#pragma once
|
|
|
|
#include <AP_Logger/LogStructure.h>
|
|
|
|
#define LOG_IDS_FROM_BARO \
|
|
LOG_BARO_MSG, \
|
|
LOG_BARD_MSG
|
|
|
|
// @LoggerMessage: BARO
|
|
// @Description: Gathered Barometer data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: I: barometer sensor instance number
|
|
// @Field: Alt: calculated altitude
|
|
// @Field: Press: measured atmospheric pressure
|
|
// @Field: Temp: measured atmospheric temperature
|
|
// @Field: CRt: derived climb rate from primary barometer
|
|
// @Field: SMS: time last sample was taken
|
|
// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS
|
|
// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground
|
|
// @Field: Health: true if barometer is considered healthy
|
|
struct PACKED log_BARO {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t instance;
|
|
float altitude;
|
|
float pressure;
|
|
int16_t temperature;
|
|
float climbrate;
|
|
uint32_t sample_time_ms;
|
|
float drift_offset;
|
|
float ground_temp;
|
|
uint8_t healthy;
|
|
};
|
|
|
|
// @LoggerMessage: BARD
|
|
// @Description: Barometer dynamic data
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: I: barometer sensor instance number
|
|
// @Field: DynPrX: calculated dynamic pressure in the bodyframe X-axis
|
|
// @Field: DynPrY: calculated dynamic pressure in the bodyframe Y-axis
|
|
// @Field: DynPrZ: calculated dynamic pressure in the bodyframe Z-axis
|
|
struct PACKED log_BARD {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t instance;
|
|
float dyn_pressure_x;
|
|
float dyn_pressure_y;
|
|
float dyn_pressure_z;
|
|
};
|
|
|
|
#define LOG_STRUCTURE_FROM_BARO \
|
|
{ LOG_BARO_MSG, sizeof(log_BARO), \
|
|
"BARO", \
|
|
"Q" "B" "f" "f" "c" "f" "I" "f" "f" "B", \
|
|
"TimeUS," "I," "Alt," "Press," "Temp," "CRt," "SMS," "Offset," "GndTemp," "Health", \
|
|
"s" "#" "m" "P" "O" "n" "s" "m" "O" "-", \
|
|
"F" "-" "0" "0" "B" "0" "C" "?" "0" "-", \
|
|
true \
|
|
}, \
|
|
{ LOG_BARD_MSG, sizeof(log_BARD), \
|
|
"BARD", \
|
|
"Q" "B" "fff", \
|
|
"TimeUS," "I," "DynPrX,DynPrY,DynPrZ", \
|
|
"s" "#" "PPP", \
|
|
"F" "-" "000", \
|
|
true \
|
|
},
|