ardupilot/libraries/AP_Logger
Tamas Nepusz f91ea8a0dd AP_Logger: make LogStructure non-packed to fix compilation of SITL on Apple M1 2022-05-11 07:54:06 +10:00
..
examples AP_Logger: make block logger conform to mavlink expectations of numbering 2020-09-05 10:20:39 +10:00
AP_Logger.cpp AP_Logger: fixed @SYS file logging 2022-04-06 07:46:29 +10:00
AP_Logger.h AP_Logger: must set default fd = -1 2022-04-19 10:00:32 +10:00
AP_Logger_Backend.cpp AP_Logger: log VER - ArduPilot version information 2022-02-09 18:32:38 +11:00
AP_Logger_Backend.h AP_Logger: log VER - ArduPilot version information 2022-02-09 18:32:38 +11:00
AP_Logger_Block.cpp AP_Logger: fix implicit instanciation order, base class first 2022-01-06 09:13:54 +11:00
AP_Logger_Block.h AP_Logger: Add missing const in member functions 2021-02-03 18:45:14 +11:00
AP_Logger_DataFlash.cpp AP_Logger: support Winbond W25X32 for KakuteH7Mini 2022-01-11 10:58:55 +11:00
AP_Logger_DataFlash.h AP_Logger: tidy construction of backends 2021-11-09 10:18:10 +11:00
AP_Logger_File.cpp AP_Logger: fixed a bug in wrapped log count 2022-05-06 06:56:33 +10:00
AP_Logger_File.h AP_Logger: fixed log listing with gap, and EKF error on log list 2022-04-19 11:45:26 +10:00
AP_Logger_MAVLink.cpp AP_Logger: fix build with mavlink debug enabled 2022-01-04 07:25:28 -08:00
AP_Logger_MAVLink.h AP_Logger: tidy includes 2022-05-03 09:14:58 +10:00
AP_Logger_MAVLinkLogTransfer.cpp AP_Logger: move from HAL_NO_GCS to HAL_GCS_ENABLED 2021-09-22 21:37:00 +10:00
LogFile.cpp AP_Logger: move logging of Beacon into Beacon library 2022-04-13 16:22:19 +10:00
LogStructure.h AP_Logger: make LogStructure non-packed to fix compilation of SITL on Apple M1 2022-05-11 07:54:06 +10:00
LoggerMessageWriter.cpp AP_Logger: log VER - ArduPilot version information 2022-02-09 18:32:38 +11:00
LoggerMessageWriter.h AP_Logger: log VER - ArduPilot version information 2022-02-09 18:32:38 +11:00
README.md AP_Logger: add 1e-9 log multiplyer 2022-04-06 17:22:30 +10:00

README.md

Logger Notes

Format Types

The format type specifies the amount of storage required for the entry and how the content should be interpreted.

Char C Type
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]
L int32_t latitude/longitude (so -35.1332423 becomes -351332423)
M uint8_t flight mode
q int64_t
Q uint64_t

Legacy field types - do not use. These have been replaced by using the base C type and an appropriate multiplier column entry.

Char CType+Mult
c int16_t * 100
C uint16_t * 100
e int32_t * 100
E uint32_t * 100

Units

All units here should be base units. This means battery capacity uses "amp * second" not "milliAmp * hours". Please keep the names consistent with Tools/autotest/param_metadata/param.py:33

Char Unit Abbrev. Description Notes
'-' "" 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 Not an SI unit, but in some situations more user-friendly than radians per second
'D' "deglatitude" degrees of latitude
'e' "deg/s/s" degrees per second per second Not an SI unit, but in some situations more user-friendly than radians per second^2
'E' "rad/s" radians per second
'G' "Gauss" Gauss 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 an SI unit, but Kelvin is too cumbersome for most users
'%' "%" percent
'S' "satellites" number of satellites
's' "s" seconds
'q' "rpm" revolutions per minute Not an SI unit, 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
'W' "W" watt
'X' "W.h" watt hour
'Y' "us" pulse width modulation in microseconds
'z' "Hz" Hertz
'#' "instance" (e.g.)Sensor instance number

Multipliers

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

Char Multiplier Description
'-' 0 no multiplier e.g. char[4]
'?' 1 multipliers which haven't been worked out yet
'2' 1e2
'1' 1e1
'0' 1e0 x1
'A' 1e-1
'B' 1e-2
'C' 1e-3
'D' 1e-4
'E' 1e-5
'F' 1e-6
'G' 1e-7
'I' 1e-9
'!' 3.6 (milliampere * hour => ampere * second) and (km/h => m/s)
'/' 3600 (ampere * hour => ampere * second)