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ardupilot/libraries/DataFlash/LogStructure.h
Michael du Breuil 3ee675ad42 DataFlash: Log integer version of mission 
This is higher precision the casting to float, and better matches the
internal format we actually use. Removed the indicection as it gained us
nothing. Closes #8875
2018-11-24 20:11:46 -08:00

1627 lines
47 KiB
C
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#pragma once
/*
unfortunately these need to be macros because of a limitation of
named member structure initialisation in g++
*/
#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
#define LOG_PACKET_HEADER_LEN 3 // bytes required for LOG_PACKET_HEADER
// once the logging code is all converted we will remove these from
// this header
#define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149
// structure used to define logging format
struct LogStructure {
uint8_t msg_type;
uint8_t msg_len;
const char *name;
const char *format;
const char *labels;
const char *units;
const char *multipliers;
};
// maximum lengths of fields in LogStructure, including trailing nulls
static const uint8_t LS_NAME_SIZE = 5;
static const uint8_t LS_FORMAT_SIZE = 17;
static const uint8_t LS_LABELS_SIZE = 65;
static const uint8_t LS_UNITS_SIZE = 17;
static const uint8_t LS_MULTIPLIERS_SIZE = 17;
/*
log structures common to all vehicle types
*/
struct PACKED log_Format {
LOG_PACKET_HEADER;
uint8_t type;
uint8_t length;
char name[4];
char format[16];
char labels[64];
};
struct PACKED log_Unit {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
char unit[64]; // you know, this might be overkill...
};
struct PACKED log_Format_Multiplier {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
double multiplier;
};
struct PACKED log_Format_Units {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t format_type;
char units[16];
char multipliers[16];
};
struct UnitStructure {
const char ID;
const char *unit;
};
struct MultiplierStructure {
const char ID;
const double multiplier;
};
// all units here should be base units
// This does mean battery capacity is here as "amp*second"
// Please keep the names consistent with Tools/autotest/param_metadata/param.py:33
const struct UnitStructure log_Units[] = {
{ '-', "" }, // no units e.g. Pi, or a string
{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
{ 'A', "A" }, // Ampere
{ 'd', "deg" }, // of the angular variety, -180 to 180
{ 'b', "B" }, // bytes
{ 'k', "deg/s" }, // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
{ 'D', "deglatitude" }, // degrees of latitude
{ 'e', "deg/s/s" }, // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly than radians
{ 'E', "rad/s" }, // radians per second
{ 'G', "Gauss" }, // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
{ 'h', "degheading" }, // 0.? to 359.?
{ 'i', "A.s" }, // Ampere second
{ 'J', "W.s" }, // Joule (Watt second)
// { 'l', "l" }, // litres
{ 'L', "rad/s/s" }, // radians per second per second
{ 'm', "m" }, // metres
{ 'n', "m/s" }, // metres per second
// { 'N', "N" }, // Newton
{ 'o', "m/s/s" }, // metres per second per second
{ 'O', "degC" }, // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users
{ '%', "%" }, // percent
{ 'S', "satellites" }, // number of satellites
{ 's', "s" }, // seconds
{ 'q', "rpm" }, // rounds per minute. Not SI, but sometimes more intuitive than Hertz
{ 'r', "rad" }, // radians
{ 'U', "deglongitude" }, // degrees of longitude
{ 'u', "ppm" }, // pulses per minute
{ 'v', "V" }, // Volt
{ 'P', "Pa" }, // Pascal
{ 'w', "Ohm" }, // Ohm
{ 'Y', "us" }, // pulse width modulation in microseconds
{ 'z', "Hz" } // Hertz
};
// this multiplier information applies to the raw value present in the
// log. Any adjustment implied by the format field (e.g. the "centi"
// in "centidegrees" is *IGNORED* for the purposes of scaling.
// Essentially "format" simply tells you the C-type, and format-type h
// (int16_t) is equivalent to format-type c (int16_t*100)
// tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name
const struct MultiplierStructure log_Multipliers[] = {
{ '-', 0 }, // no multiplier e.g. a string
{ '?', 1 }, // multipliers which haven't been worked out yet....
// <leave a gap here, just in case....>
{ '2', 1e2 },
{ '1', 1e1 },
{ '0', 1e0 },
{ 'A', 1e-1 },
{ 'B', 1e-2 },
{ 'C', 1e-3 },
{ 'D', 1e-4 },
{ 'E', 1e-5 },
{ 'F', 1e-6 },
{ 'G', 1e-7 },
// <leave a gap here, just in case....>
{ '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s)
{ '/', 3600 }, // (ampere*second => ampere*hour)
};
struct PACKED log_Parameter {
LOG_PACKET_HEADER;
uint64_t time_us;
char name[16];
float value;
};
struct PACKED log_DSF {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t dropped;
uint8_t internal_errors;
uint16_t blocks;
uint32_t bytes;
uint32_t buf_space_min;
uint32_t buf_space_max;
uint32_t buf_space_avg;
};
struct PACKED log_GPS {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status;
uint32_t gps_week_ms;
uint16_t gps_week;
uint8_t num_sats;
uint16_t hdop;
int32_t latitude;
int32_t longitude;
int32_t altitude;
float ground_speed;
float ground_course;
float vel_z;
uint8_t used;
};
struct PACKED log_GPA {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t vdop;
uint16_t hacc;
uint16_t vacc;
uint16_t sacc;
uint8_t have_vv;
uint32_t sample_ms;
uint16_t delta_ms;
};
struct PACKED log_Message {
LOG_PACKET_HEADER;
uint64_t time_us;
char msg[64];
};
struct PACKED log_IMU {
LOG_PACKET_HEADER;
uint64_t time_us;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
uint32_t gyro_error, accel_error;
float temperature;
uint8_t gyro_health, accel_health;
uint16_t gyro_rate, accel_rate;
};
struct PACKED log_IMUDT {
LOG_PACKET_HEADER;
uint64_t time_us;
float delta_time, delta_vel_dt, delta_ang_dt;
float delta_ang_x, delta_ang_y, delta_ang_z;
float delta_vel_x, delta_vel_y, delta_vel_z;
};
struct PACKED log_ISBH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t seqno;
uint8_t sensor_type; // e.g. GYRO or ACCEL
uint8_t instance;
uint16_t multiplier;
uint16_t sample_count;
uint64_t sample_us;
float sample_rate_hz;
};
static_assert(sizeof(log_ISBH) < 256, "log_ISBH is over-size");
struct PACKED log_ISBD {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t isb_seqno;
uint16_t seqno; // seqno within isb_seqno
int16_t x[32];
int16_t y[32];
int16_t z[32];
};
static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");
struct PACKED log_Vibe {
LOG_PACKET_HEADER;
uint64_t time_us;
float vibe_x, vibe_y, vibe_z;
uint32_t clipping_0, clipping_1, clipping_2;
};
struct PACKED log_Gimbal1 {
LOG_PACKET_HEADER;
uint32_t time_ms;
float delta_time;
float delta_angles_x;
float delta_angles_y;
float delta_angles_z;
float delta_velocity_x;
float delta_velocity_y;
float delta_velocity_z;
float joint_angles_x;
float joint_angles_y;
float joint_angles_z;
};
struct PACKED log_Gimbal2 {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t est_sta;
float est_x;
float est_y;
float est_z;
float rate_x;
float rate_y;
float rate_z;
float target_x;
float target_y;
float target_z;
};
struct PACKED log_Gimbal3 {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t rl_torque_cmd;
int16_t el_torque_cmd;
int16_t az_torque_cmd;
};
struct PACKED log_RCIN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
uint16_t chan9;
uint16_t chan10;
uint16_t chan11;
uint16_t chan12;
uint16_t chan13;
uint16_t chan14;
};
struct PACKED log_RCOUT {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
uint16_t chan9;
uint16_t chan10;
uint16_t chan11;
uint16_t chan12;
uint16_t chan13;
uint16_t chan14;
};
struct PACKED log_RSSI {
LOG_PACKET_HEADER;
uint64_t time_us;
float RXRSSI;
};
struct PACKED log_BARO {
LOG_PACKET_HEADER;
uint64_t time_us;
float altitude;
float pressure;
int16_t temperature;
float climbrate;
uint32_t sample_time_ms;
float drift_offset;
float ground_temp;
};
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t surface_quality;
float flow_x;
float flow_y;
float body_x;
float body_y;
};
struct PACKED log_AHRS {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t roll;
int16_t pitch;
uint16_t yaw;
float alt;
int32_t lat;
int32_t lng;
float q1, q2, q3, q4;
};
struct PACKED log_POS {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t lat;
int32_t lng;
float alt;
float rel_home_alt;
float rel_origin_alt;
};
struct PACKED log_POWR {
LOG_PACKET_HEADER;
uint64_t time_us;
float Vcc;
float Vservo;
uint16_t flags;
uint8_t safety_and_arm;
};
struct PACKED log_EKF1 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
struct PACKED log_EKF2 {
LOG_PACKET_HEADER;
uint64_t time_us;
int8_t Ratio;
int8_t AZ1bias;
int8_t AZ2bias;
int16_t windN;
int16_t windE;
int16_t magN;
int16_t magE;
int16_t magD;
int16_t magX;
int16_t magY;
int16_t magZ;
};
struct PACKED log_NKF2 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
struct PACKED log_NKF2a {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t accBiasX;
int16_t accBiasY;
int16_t accBiasZ;
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;
};
struct PACKED log_EKF3 {
LOG_PACKET_HEADER;
uint64_t time_us;
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 innovVT;
};
struct PACKED log_NKF3 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
struct PACKED log_EKF4 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t sqrtvarV;
int16_t sqrtvarP;
int16_t sqrtvarH;
int16_t sqrtvarMX;
int16_t sqrtvarMY;
int16_t sqrtvarMZ;
int16_t sqrtvarVT;
int8_t offsetNorth;
int8_t offsetEast;
uint16_t faults;
uint8_t timeouts;
uint16_t solution;
uint16_t gps;
};
struct PACKED log_NKF4 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
uint16_t solution;
uint16_t gps;
int8_t primary;
};
struct PACKED log_EKF5 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
struct PACKED log_NKF5 {
LOG_PACKET_HEADER;
uint64_t time_us;
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;
};
struct PACKED log_Quaternion {
LOG_PACKET_HEADER;
uint64_t time_us;
float q1;
float q2;
float q3;
float q4;
};
struct PACKED log_RngBcnDebug {
LOG_PACKET_HEADER;
uint64_t time_us;
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)
};
// visual odometry sensor data
struct PACKED log_VisualOdom {
LOG_PACKET_HEADER;
uint64_t time_us;
float time_delta;
float angle_delta_x;
float angle_delta_y;
float angle_delta_z;
float position_delta_x;
float position_delta_y;
float position_delta_z;
float confidence;
};
struct PACKED log_ekfBodyOdomDebug {
LOG_PACKET_HEADER;
uint64_t time_us;
float velInnovX;
float velInnovY;
float velInnovZ;
float velInnovVarX;
float velInnovVarY;
float velInnovVarZ;
};
struct PACKED log_ekfStateVar {
LOG_PACKET_HEADER;
uint64_t time_us;
float v00;
float v01;
float v02;
float v03;
float v04;
float v05;
float v06;
float v07;
float v08;
float v09;
float v10;
float v11;
};
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t command_total;
uint16_t sequence;
uint16_t command;
float param1;
float param2;
float param3;
float param4;
int32_t latitude;
int32_t longitude;
float altitude;
uint8_t frame;
};
struct PACKED log_Radio {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t rssi;
uint8_t remrssi;
uint8_t txbuf;
uint8_t noise;
uint8_t remnoise;
uint16_t rxerrors;
uint16_t fixed;
};
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t altitude_rel;
int32_t altitude_gps;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t control_roll;
int16_t roll;
int16_t control_pitch;
int16_t pitch;
uint16_t control_yaw;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
struct PACKED log_PID {
LOG_PACKET_HEADER;
uint64_t time_us;
float desired;
float actual;
float P;
float I;
float D;
float FF;
};
struct PACKED log_Current {
LOG_PACKET_HEADER;
uint64_t time_us;
float voltage;
float voltage_resting;
float current_amps;
float current_total;
float consumed_wh;
int16_t temperature; // degrees C * 100
float resistance;
};
struct PACKED log_Current_Cells {
LOG_PACKET_HEADER;
uint64_t time_us;
float voltage;
uint16_t cell_voltages[10];
};
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
uint8_t health;
uint32_t SUS;
};
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t mode;
uint8_t mode_num;
uint8_t mode_reason;
};
/*
rangefinder - support for 4 sensors
*/
struct PACKED log_RFND {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t dist1;
uint8_t status1;
uint8_t orient1;
uint16_t dist2;
uint8_t status2;
uint8_t orient2;
};
/*
terrain log structure
*/
struct PACKED log_TERRAIN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status;
int32_t lat;
int32_t lng;
uint16_t spacing;
float terrain_height;
float current_height;
uint16_t pending;
uint16_t loaded;
};
/*
UBlox logging
*/
struct PACKED log_Ubx1 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint16_t noisePerMS;
uint8_t jamInd;
uint8_t aPower;
uint16_t agcCnt;
uint32_t config;
};
struct PACKED log_Ubx2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
int8_t ofsI;
uint8_t magI;
int8_t ofsQ;
uint8_t magQ;
};
struct PACKED log_GPS_RAW {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t iTOW;
int16_t week;
uint8_t numSV;
uint8_t sv;
double cpMes;
double prMes;
float doMes;
int8_t mesQI;
int8_t cno;
uint8_t lli;
};
struct PACKED log_GPS_RAWH {
LOG_PACKET_HEADER;
uint64_t time_us;
double rcvTow;
uint16_t week;
int8_t leapS;
uint8_t numMeas;
uint8_t recStat;
};
struct PACKED log_GPS_RAWS {
LOG_PACKET_HEADER;
uint64_t time_us;
double prMes;
double cpMes;
float doMes;
uint8_t gnssId;
uint8_t svId;
uint8_t freqId;
uint16_t locktime;
uint8_t cno;
uint8_t prStdev;
uint8_t cpStdev;
uint8_t doStdev;
uint8_t trkStat;
};
struct PACKED log_GPS_SBF_EVENT {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t TOW;
uint16_t WNc;
uint8_t Mode;
uint8_t Error;
double Latitude;
double Longitude;
double Height;
float Undulation;
float Vn;
float Ve;
float Vu;
float COG;
};
struct PACKED log_Esc {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t rpm;
uint16_t voltage;
uint16_t current;
int16_t temperature;
uint16_t current_tot;
};
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint64_t time_us;
float airspeed;
float diffpressure;
int16_t temperature;
float rawpressure;
float offset;
bool use;
bool healthy;
uint8_t primary;
};
struct PACKED log_ACCEL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint64_t sample_us;
float AccX, AccY, AccZ;
};
struct PACKED log_GYRO {
LOG_PACKET_HEADER;
uint64_t time_us;
uint64_t sample_us;
float GyrX, GyrY, GyrZ;
};
struct PACKED log_DF_MAV_Stats {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint32_t seqno;
uint32_t dropped;
uint32_t retries;
uint32_t resends;
uint8_t internal_errors; // uint8_t - wishful thinking?
uint8_t state_free_avg;
uint8_t state_free_min;
uint8_t state_free_max;
uint8_t state_pending_avg;
uint8_t state_pending_min;
uint8_t state_pending_max;
uint8_t state_sent_avg;
uint8_t state_sent_min;
uint8_t state_sent_max;
// uint8_t state_retry_avg;
// uint8_t state_retry_min;
// uint8_t state_retry_max;
};
struct PACKED log_ORGN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t origin_type;
int32_t latitude;
int32_t longitude;
int32_t altitude;
};
struct PACKED log_RPM {
LOG_PACKET_HEADER;
uint64_t time_us;
float rpm1;
float rpm2;
};
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint64_t time_us;
float control_roll;
float roll;
float roll_out;
float control_pitch;
float pitch;
float pitch_out;
float control_yaw;
float yaw;
float yaw_out;
float control_accel;
float accel;
float accel_out;
};
// #if SBP_HW_LOGGING
struct PACKED log_SbpLLH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t tow;
int32_t lat;
int32_t lon;
int32_t alt;
uint8_t n_sats;
uint8_t flags;
};
struct PACKED log_SbpHealth {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t crc_error_counter;
uint32_t last_injected_data_ms;
uint32_t last_iar_num_hypotheses;
};
struct PACKED log_SbpRAWH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[48];
};
struct PACKED log_SbpRAWM {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[104];
};
struct PACKED log_SbpEvent {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t wn;
uint32_t tow;
int32_t ns_residual;
uint8_t level;
uint8_t quality;
};
struct PACKED log_Rally {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t total;
uint8_t sequence;
int32_t latitude;
int32_t longitude;
int16_t altitude;
};
struct PACKED log_AOA_SSA {
LOG_PACKET_HEADER;
uint64_t time_us;
float AOA;
float SSA;
};
struct PACKED log_Beacon {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t health;
uint8_t count;
float dist0;
float dist1;
float dist2;
float dist3;
float posx;
float posy;
float posz;
};
// proximity sensor logging
struct PACKED log_Proximity {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t health;
float dist0;
float dist45;
float dist90;
float dist135;
float dist180;
float dist225;
float dist270;
float dist315;
float distup;
float closest_angle;
float closest_dist;
};
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
uint32_t mem_avail;
uint16_t load;
};
struct PACKED log_SRTL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t active;
uint16_t num_points;
uint16_t max_points;
uint8_t action;
float N;
float E;
float D;
};
struct PACKED log_DSTL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t stage;
float target_heading;
int32_t target_lat;
int32_t target_lng;
int32_t target_alt;
int16_t crosstrack_error;
int16_t travel_distance;
float l1_i;
int32_t loiter_sum_cd;
float desired;
float P;
float I;
float D;
};
// #endif // SBP_HW_LOGGING
// FMT messages define all message formats other than FMT
// UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
#define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
#define ACC_FMT "QQfff"
#define ACC_UNITS "ssnnn"
#define ACC_MULTS "FF000"
// see "struct sensor" in AP_Baro.h and "Log_Write_Baro":
#define BARO_LABELS "TimeUS,Alt,Press,Temp,CRt,SMS,Offset,GndTemp"
#define BARO_FMT "QffcfIff"
#define BARO_UNITS "smPOnsmO"
#define BARO_MULTS "F00B0C?0"
#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot"
#define ESC_FMT "QeCCcH"
#define ESC_UNITS "sqvAO-"
#define ESC_MULTS "FBBBB-"
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCBIH"
#define GPA_UNITS "smmmn-ss"
#define GPA_MULTS "FBBBB-CF"
// see "struct GPS_State" and "Log_Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U"
#define GPS_FMT "QBIHBcLLefffB"
#define GPS_UNITS "s---SmDUmnhn-"
#define GPS_MULTS "F---0BGGB000-"
#define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ"
#define GYR_FMT "QQfff"
#define GYR_UNITS "ssEEE"
#define GYR_MULTS "FF000"
#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
#define IMT_FMT "Qfffffffff"
#define IMT_UNITS "ssssrrrnnn"
#define IMT_MULTS "FF00000000"
#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT "QHBBHHQf"
#define ISBH_UNITS "s-----sz"
#define ISBH_MULTS "F-----F-"
#define ISBD_LABELS "TimeUS,N,seqno,x,y,z"
#define ISBD_FMT "QHHaaa"
#define ISBD_UNITS "s--ooo"
#define ISBD_MULTS "F--???"
#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz"
#define IMU_FMT "QffffffIIfBBHH"
#define IMU_UNITS "sEEEooo--O--zz"
#define IMU_MULTS "F000000-----00"
#define MAG_LABELS "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
#define MAG_FMT "QhhhhhhhhhBI"
#define MAG_UNITS "sGGGGGGGGG-s"
#define MAG_MULTS "FCCCCCCCCC-F"
#define PID_LABELS "TimeUS,Des,Act,P,I,D,FF"
#define PID_FMT "Qffffff"
#define PID_UNITS "s------"
#define PID_MULTS "F------"
#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT "Qffff"
#define QUAT_UNITS "s????"
#define QUAT_MULTS "F????"
#define CURR_LABELS "TimeUS,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res"
#define CURR_FMT "Qfffffcf"
#define CURR_UNITS "svvA?JOw"
#define CURR_MULTS "F000?/?0"
#define CURR_CELL_LABELS "TimeUS,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10"
#define CURR_CELL_FMT "QfHHHHHHHHHH"
#define CURR_CELL_UNITS "svvvvvvvvvvv"
#define CURR_CELL_MULTS "F00000000000"
#define ARSP_LABELS "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U,Health,Primary"
#define ARSP_FMT "QffcffBBB"
#define ARSP_UNITS "snPOPP---"
#define ARSP_MULTS "F00B00---"
/*
Format characters in the format string for binary log messages
a : int16_t[32]
b : int8_t
B : uint8_t
h : int16_t
H : uint16_t
i : int32_t
I : uint32_t
f : float
d : double
n : char[4]
N : char[16]
Z : char[64]
c : int16_t * 100
C : uint16_t * 100
e : int32_t * 100
E : uint32_t * 100
L : int32_t latitude/longitude
M : uint8_t flight mode
q : int64_t
Q : uint64_t
*/
// messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns", "-b---", "-----" }, \
{ LOG_UNIT_MSG, sizeof(log_Unit), \
"UNIT", "QbZ", "TimeUS,Id,Label", "s--","F--" }, \
{ LOG_FORMAT_UNITS_MSG, sizeof(log_Format_Units), \
"FMTU", "QBNN", "TimeUS,FmtType,UnitIds,MultIds","s---", "F---" }, \
{ LOG_MULT_MSG, sizeof(log_Format_Multiplier), \
"MULT", "Qbd", "TimeUS,Id,Mult", "s--","F--" }, \
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPSB_MSG, sizeof(log_GPS), \
"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \
"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPAB_MSG, sizeof(log_GPA), \
"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "QZ", "TimeUS,Message", "s-", "F-"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffHB","TimeUS,Vcc,VServo,Flags,Safety", "svv--", "F00--" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), "ARSP", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
{ LOG_ASP2_MSG, sizeof(log_AIRSPEED), "ASP2", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT2_MSG, sizeof(log_Current), \
"BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT3_MSG, sizeof(log_Current), \
"BAT3", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT4_MSG, sizeof(log_Current), \
"BAT4", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT5_MSG, sizeof(log_Current), \
"BAT5", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT6_MSG, sizeof(log_Current), \
"BAT6", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT7_MSG, sizeof(log_Current), \
"BAT7", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT8_MSG, sizeof(log_Current), \
"BAT8", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT9_MSG, sizeof(log_Current), \
"BAT9", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
"BCL", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS2_MSG, sizeof(log_Current_Cells), \
"BCL2", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS3_MSG, sizeof(log_Current_Cells), \
"BCL3", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS4_MSG, sizeof(log_Current_Cells), \
"BCL4", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS5_MSG, sizeof(log_Current_Cells), \
"BCL5", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS6_MSG, sizeof(log_Current_Cells), \
"BCL6", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS7_MSG, sizeof(log_Current_Cells), \
"BCL7", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS8_MSG, sizeof(log_Current_Cells), \
"BCL8", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS9_MSG, sizeof(log_Current_Cells), \
"BCL9", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QCBBCBB", "TimeUS,Dist1,Stat1,Orient1,Dist2,Stat2,Orient2", "sm--m--", "FB--B--" }, \
{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "C--------------" }, \
{ LOG_BEACON_MSG, sizeof(log_Beacon), \
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--BBBBBBB" }, \
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), \
"PM", "QHHIIH", "TimeUS,NLon,NLoop,MaxT,Mem,Load", "s---b%", "F---0A" }, \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }
// messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \
"IMU3", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBB0GG????" }, \
{ LOG_POS_MSG, sizeof(log_POS), \
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" }, \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
{ LOG_NKF1_MSG, sizeof(log_EKF1), \
"NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_NKF2_MSG, sizeof(log_NKF2), \
"NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_NKF5_MSG, sizeof(log_NKF5), \
"NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_NKF6_MSG, sizeof(log_EKF1), \
"NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_NKF7_MSG, sizeof(log_NKF2), \
"NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF8_MSG, sizeof(log_NKF3), \
"NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_NKF9_MSG, sizeof(log_NKF4), \
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
"NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
"XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_XKF2_MSG, sizeof(log_NKF2a), \
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_XKF5_MSG, sizeof(log_NKF5), \
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_XKF6_MSG, sizeof(log_EKF1), \
"XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_XKF7_MSG, sizeof(log_NKF2a), \
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF8_MSG, sizeof(log_NKF3), \
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_XKF9_MSG, sizeof(log_NKF4), \
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
"XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
"XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
{ LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
"XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s------------", "F------------" }, \
{ LOG_XKV2_MSG, sizeof(log_ekfStateVar), \
"XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s------------", "F------------" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS2_UBX1_MSG, sizeof(log_Ubx1), \
"UBY1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS2_UBX2_MSG, sizeof(log_Ubx2), \
"UBY2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" }, \
{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
{ LOG_GPS_SBF_EVENT_MSG, sizeof(log_GPS_SBF_EVENT), \
"SBFE", "QIHBBdddfffff", "TimeUS,TOW,WN,Mode,Err,Lat,Lng,Height,Undul,Vn,Ve,Vu,COG", "s----DUm-nnnh", "F----000-0000" }, \
{ LOG_ESC1_MSG, sizeof(log_Esc), \
"ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC2_MSG, sizeof(log_Esc), \
"ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC3_MSG, sizeof(log_Esc), \
"ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC4_MSG, sizeof(log_Esc), \
"ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC5_MSG, sizeof(log_Esc), \
"ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC6_MSG, sizeof(log_Esc), \
"ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC7_MSG, sizeof(log_Esc), \
"ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
"ACC1", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
"ACC2", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
"ACC3", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
"GYR1", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
"GYR2", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
"GYR3", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_PIDR_MSG, sizeof(log_PID), \
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDP_MSG, sizeof(log_PID), \
"PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDY_MSG, sizeof(log_PID), \
"PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDA_MSG, sizeof(log_PID), \
"PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDS_MSG, sizeof(log_PID), \
"PIDS", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_DSTL_MSG, sizeof(log_DSTL), \
"DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \
{ LOG_BAR2_MSG, sizeof(log_BARO), \
"BAR2", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_BAR3_MSG, sizeof(log_BARO), \
"BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
"IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
"IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
"IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_ISBH_MSG, sizeof(log_ISBH), \
"ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \
{ LOG_ISBD_MSG, sizeof(log_ISBD), \
"ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" }, \
{ LOG_DF_FILE_STATS, sizeof(log_DSF), \
"DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv", "s---b---", "F---0---" }, \
{ LOG_RPM_MSG, sizeof(log_RPM), \
"RPM", "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \
{ LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \
{ LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \
{ LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \
{ LOG_RATE_MSG, sizeof(log_Rate), \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \
{ LOG_RALLY_MSG, sizeof(log_Rally), \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" }
// #if SBP_HW_LOGGING
#define LOG_SBP_STRUCTURES \
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" }, \
{ LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" }, \
{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
// #endif
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
// message types 0 to 63 reserved for vehicle specific use
// message types for common messages
enum LogMessages : uint8_t {
LOG_NKF1_MSG = 64,
LOG_NKF2_MSG,
LOG_NKF3_MSG,
LOG_NKF4_MSG,
LOG_NKF5_MSG,
LOG_NKF6_MSG,
LOG_NKF7_MSG,
LOG_NKF8_MSG,
LOG_NKF9_MSG,
LOG_NKF10_MSG,
LOG_NKQ1_MSG,
LOG_NKQ2_MSG,
LOG_XKF1_MSG,
LOG_XKF2_MSG,
LOG_XKF3_MSG,
LOG_XKF4_MSG,
LOG_XKF5_MSG,
LOG_XKF6_MSG,
LOG_XKF7_MSG,
LOG_XKF8_MSG,
LOG_XKF9_MSG,
LOG_XKF10_MSG,
LOG_XKQ1_MSG,
LOG_XKQ2_MSG,
LOG_XKFD_MSG,
LOG_XKV1_MSG,
LOG_XKV2_MSG,
LOG_FORMAT_MSG = 128, // this must remain #128
LOG_PARAMETER_MSG,
LOG_GPS_MSG,
LOG_GPS2_MSG,
LOG_GPSB_MSG,
LOG_IMU_MSG,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IMU2_MSG,
LOG_BARO_MSG,
LOG_POWR_MSG,
LOG_AHR2_MSG,
LOG_SIMSTATE_MSG,
LOG_CMD_MSG,
LOG_RADIO_MSG,
LOG_ATRP_MSG,
LOG_CAMERA_MSG,
LOG_IMU3_MSG,
LOG_TERRAIN_MSG,
LOG_GPS_UBX1_MSG,
LOG_GPS_UBX2_MSG,
LOG_GPS2_UBX1_MSG,
LOG_GPS2_UBX2_MSG,
LOG_ESC1_MSG,
LOG_ESC2_MSG,
LOG_ESC3_MSG,
LOG_ESC4_MSG,
LOG_ESC5_MSG,
LOG_ESC6_MSG,
LOG_ESC7_MSG,
LOG_ESC8_MSG,
LOG_BAR2_MSG,
LOG_ARSP_MSG,
LOG_ATTITUDE_MSG,
LOG_CURRENT_MSG,
LOG_CURRENT2_MSG,
LOG_CURRENT3_MSG,
LOG_CURRENT4_MSG,
LOG_CURRENT5_MSG,
LOG_CURRENT6_MSG,
LOG_CURRENT7_MSG,
LOG_CURRENT8_MSG,
LOG_CURRENT9_MSG,
LOG_CURRENT_CELLS_MSG,
LOG_CURRENT_CELLS2_MSG,
LOG_CURRENT_CELLS3_MSG,
LOG_CURRENT_CELLS4_MSG,
LOG_CURRENT_CELLS5_MSG,
LOG_CURRENT_CELLS6_MSG,
LOG_CURRENT_CELLS7_MSG,
LOG_CURRENT_CELLS8_MSG,
LOG_CURRENT_CELLS9_MSG,
LOG_COMPASS_MSG,
LOG_COMPASS2_MSG,
LOG_COMPASS3_MSG,
LOG_MODE_MSG,
LOG_GPS_RAW_MSG,
LOG_GPS_RAWH_MSG,
LOG_GPS_RAWS_MSG,
LOG_GPS_SBF_EVENT_MSG,
LOG_ACC1_MSG,
LOG_ACC2_MSG,
LOG_ACC3_MSG,
LOG_GYR1_MSG,
LOG_GYR2_MSG,
LOG_GYR3_MSG,
LOG_POS_MSG,
LOG_PIDR_MSG,
LOG_PIDP_MSG,
LOG_PIDY_MSG,
LOG_PIDA_MSG,
LOG_PIDS_MSG,
LOG_DSTL_MSG,
LOG_VIBE_MSG,
LOG_IMUDT_MSG,
LOG_IMUDT2_MSG,
LOG_IMUDT3_MSG,
LOG_ORGN_MSG,
LOG_RPM_MSG,
LOG_GPA_MSG,
LOG_GPA2_MSG,
LOG_GPAB_MSG,
LOG_RFND_MSG,
LOG_BAR3_MSG,
LOG_DF_MAV_STATS,
LOG_FORMAT_UNITS_MSG,
LOG_UNIT_MSG,
LOG_MULT_MSG,
LOG_MSG_SBPHEALTH,
LOG_MSG_SBPLLH,
LOG_MSG_SBPBASELINE,
LOG_MSG_SBPTRACKING1,
LOG_MSG_SBPTRACKING2,
LOG_MSG_SBPRAWH,
LOG_MSG_SBPRAWM,
LOG_MSG_SBPEVENT,
LOG_TRIGGER_MSG,
LOG_GIMBAL1_MSG,
LOG_GIMBAL2_MSG,
LOG_GIMBAL3_MSG,
LOG_RATE_MSG,
LOG_RALLY_MSG,
LOG_VISUALODOM_MSG,
LOG_AOA_SSA_MSG,
LOG_BEACON_MSG,
LOG_PROXIMITY_MSG,
LOG_DF_FILE_STATS,
LOG_SRTL_MSG,
LOG_ISBH_MSG,
LOG_ISBD_MSG,
LOG_ASP2_MSG,
LOG_PERFORMANCE_MSG,
LOG_OPTFLOW_MSG,
_LOG_LAST_MSG_
};
static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats");
enum LogOriginType {
ekf_origin = 0,
ahrs_home = 1
};
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