mirror of https://github.com/ArduPilot/ardupilot
855 lines
23 KiB
C++
855 lines
23 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/* ************************************************************ */
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/* Test for DataFlash Log library */
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/* ************************************************************ */
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#ifndef DataFlash_h
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#define DataFlash_h
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_RPM/AP_RPM.h>
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#include <stdint.h>
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#include "DataFlash_Backend.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <uORB/topics/esc_status.h>
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#endif
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class DataFlash_Backend;
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class DataFlash_Class
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{
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public:
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FUNCTOR_TYPEDEF(print_mode_fn, void, AP_HAL::BetterStream*, uint8_t);
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// initialisation
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void Init(const struct LogStructure *structure, uint8_t num_types);
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bool CardInserted(void);
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// erase handling
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bool NeedErase(void);
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void EraseAll();
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/* Write a block of data at current offset */
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void WriteBlock(const void *pBuffer, uint16_t size);
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// high level interface
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uint16_t find_last_log(void);
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void get_log_boundaries(uint16_t log_num, uint16_t & start_page, uint16_t & end_page);
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void get_log_info(uint16_t log_num, uint32_t &size, uint32_t &time_utc);
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int16_t get_log_data(uint16_t log_num, uint16_t page, uint32_t offset, uint16_t len, uint8_t *data);
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uint16_t get_num_logs(void);
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#ifndef DATAFLASH_NO_CLI
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void LogReadProcess(uint16_t log_num,
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uint16_t start_page, uint16_t end_page,
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print_mode_fn printMode,
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AP_HAL::BetterStream *port);
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void DumpPageInfo(AP_HAL::BetterStream *port);
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void ShowDeviceInfo(AP_HAL::BetterStream *port);
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void ListAvailableLogs(AP_HAL::BetterStream *port);
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#endif // DATAFLASH_NO_CLI
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/* logging methods common to all vehicles */
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uint16_t StartNewLog(void);
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void AddLogFormats(const struct LogStructure *structures, uint8_t num_types);
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void EnableWrites(bool enable);
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void Log_Write_SysInfo(const prog_char_t *firmware_string);
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void Log_Write_Format(const struct LogStructure *structure);
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void Log_Write_Parameter(const char *name, float value);
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void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, int32_t relative_alt);
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void Log_Write_IMU(const AP_InertialSensor &ins);
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void Log_Write_IMUDT(const AP_InertialSensor &ins);
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void Log_Write_Vibration(const AP_InertialSensor &ins);
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void Log_Write_RCIN(void);
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void Log_Write_RCOUT(void);
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void Log_Write_Baro(AP_Baro &baro);
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void Log_Write_Power(void);
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void Log_Write_AHRS2(AP_AHRS &ahrs);
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void Log_Write_POS(AP_AHRS &ahrs);
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#if AP_AHRS_NAVEKF_AVAILABLE
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void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
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#endif
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void Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
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void Log_Write_Radio(const mavlink_radio_t &packet);
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void Log_Write_Message(const char *message);
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void Log_Write_Message_P(const prog_char_t *message);
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void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location ¤t_loc);
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void Log_Write_ESC(void);
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void Log_Write_Airspeed(AP_Airspeed &airspeed);
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void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
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void Log_Write_Current(const AP_BattMonitor &battery, int16_t throttle);
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void Log_Write_Compass(const Compass &compass);
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void Log_Write_Mode(uint8_t mode);
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void Log_Write_Parameters(void);
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void Log_Write_EntireMission(const AP_Mission &mission);
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void Log_Write_Mission_Cmd(const AP_Mission &mission,
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const AP_Mission::Mission_Command &cmd);
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void Log_Write_Origin(uint8_t origin_type, const Location &loc);
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void Log_Write_RPM(const AP_RPM &rpm_sensor);
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// This structure provides information on the internal member data of a PID for logging purposes
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struct PID_Info {
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float desired;
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float P;
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float I;
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float D;
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float FF;
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float AFF;
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};
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void Log_Write_PID(uint8_t msg_type, const PID_Info &info);
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bool logging_started(void);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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// currently only DataFlash_File support this:
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void flush(void);
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#endif
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protected:
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void Log_Fill_Format(const struct LogStructure *structure, struct log_Format &pkt);
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void Log_Write_Parameter(const AP_Param *ap, const AP_Param::ParamToken &token,
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enum ap_var_type type);
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uint16_t start_new_log(void);
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const struct LogStructure *_structures;
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uint8_t _num_types;
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private:
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DataFlash_Backend *backend;
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};
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/*
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unfortunately these need to be macros because of a limitation of
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named member structure initialisation in g++
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*/
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#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
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#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
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// once the logging code is all converted we will remove these from
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// this header
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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// structure used to define logging format
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struct LogStructure {
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uint8_t msg_type;
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uint8_t msg_len;
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const char name[5];
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const char format[16];
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const char labels[64];
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};
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/*
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log structures common to all vehicle types
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*/
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struct PACKED log_Format {
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LOG_PACKET_HEADER;
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uint8_t type;
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uint8_t length;
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char name[4];
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char format[16];
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char labels[64];
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};
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struct PACKED log_Parameter {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char name[16];
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float value;
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};
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struct PACKED log_GPS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t status;
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uint32_t gps_week_ms;
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uint16_t gps_week;
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uint8_t num_sats;
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uint16_t hdop;
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int32_t latitude;
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int32_t longitude;
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int32_t rel_altitude;
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int32_t altitude;
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uint32_t ground_speed;
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int32_t ground_course;
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float vel_z;
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uint8_t used;
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};
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struct PACKED log_Message {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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char msg[64];
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};
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struct PACKED log_IMU {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float gyro_x, gyro_y, gyro_z;
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float accel_x, accel_y, accel_z;
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uint32_t gyro_error, accel_error;
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float temperature;
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uint8_t gyro_health, accel_health;
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};
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struct PACKED log_IMUDT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float delta_time, delta_vel_dt;
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float delta_ang_x, delta_ang_y, delta_ang_z;
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float delta_vel_x, delta_vel_y, delta_vel_z;
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};
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struct PACKED log_Vibe {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float vibe_x, vibe_y, vibe_z;
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uint32_t clipping_0, clipping_1, clipping_2;
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};
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struct PACKED log_RCIN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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uint16_t chan9;
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uint16_t chan10;
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uint16_t chan11;
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uint16_t chan12;
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uint16_t chan13;
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uint16_t chan14;
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};
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struct PACKED log_RCOUT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t chan1;
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uint16_t chan2;
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uint16_t chan3;
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uint16_t chan4;
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uint16_t chan5;
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uint16_t chan6;
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uint16_t chan7;
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uint16_t chan8;
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uint16_t chan9;
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uint16_t chan10;
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uint16_t chan11;
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uint16_t chan12;
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};
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struct PACKED log_BARO {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float altitude;
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float pressure;
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int16_t temperature;
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float climbrate;
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};
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struct PACKED log_AHRS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float alt;
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int32_t lat;
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int32_t lng;
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};
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struct PACKED log_POS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int32_t lat;
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int32_t lng;
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float alt;
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float rel_alt;
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};
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struct PACKED log_POWR {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t Vcc;
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uint16_t Vservo;
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uint16_t flags;
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};
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struct PACKED log_EKF1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float velN;
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float velE;
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float velD;
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float posN;
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float posE;
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float posD;
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int16_t gyrX;
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int16_t gyrY;
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int16_t gyrZ;
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};
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struct PACKED log_EKF2 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int8_t Ratio;
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int8_t AZ1bias;
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int8_t AZ2bias;
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int16_t windN;
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int16_t windE;
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int16_t magN;
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int16_t magE;
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int16_t magD;
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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};
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struct PACKED log_EKF3 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t innovVN;
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int16_t innovVE;
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int16_t innovVD;
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int16_t innovPN;
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int16_t innovPE;
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int16_t innovPD;
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int16_t innovMX;
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int16_t innovMY;
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int16_t innovMZ;
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int16_t innovVT;
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};
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struct PACKED log_EKF4 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t sqrtvarV;
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int16_t sqrtvarP;
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int16_t sqrtvarH;
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int16_t sqrtvarMX;
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int16_t sqrtvarMY;
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int16_t sqrtvarMZ;
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int16_t sqrtvarVT;
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int8_t offsetNorth;
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int8_t offsetEast;
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uint8_t faults;
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uint8_t timeouts;
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uint16_t solution;
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};
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struct PACKED log_EKF5 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t normInnov;
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int16_t FIX;
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int16_t FIY;
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int16_t AFI;
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int16_t HAGL;
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int16_t offset;
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int16_t RI;
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uint16_t meaRng;
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uint16_t errHAGL;
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};
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struct PACKED log_Cmd {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t command_total;
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uint16_t sequence;
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uint16_t command;
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float param1;
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float param2;
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float param3;
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float param4;
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float latitude;
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float longitude;
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float altitude;
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};
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struct PACKED log_Radio {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t rssi;
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uint8_t remrssi;
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uint8_t txbuf;
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uint8_t noise;
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uint8_t remnoise;
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uint16_t rxerrors;
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uint16_t fixed;
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};
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struct PACKED log_Camera {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t gps_time;
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uint16_t gps_week;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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int32_t altitude_rel;
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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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};
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struct PACKED log_Attitude {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t control_roll;
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int16_t roll;
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int16_t control_pitch;
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int16_t pitch;
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uint16_t control_yaw;
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uint16_t yaw;
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uint16_t error_rp;
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uint16_t error_yaw;
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};
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struct PACKED log_PID {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float desired;
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float P;
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float I;
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float D;
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float FF;
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float AFF;
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};
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struct PACKED log_Current {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t throttle;
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int16_t battery_voltage;
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int16_t current_amps;
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uint16_t board_voltage;
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float current_total;
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int16_t battery2_voltage;
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};
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struct PACKED log_Compass {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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int16_t offset_x;
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int16_t offset_y;
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int16_t offset_z;
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int16_t motor_offset_x;
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int16_t motor_offset_y;
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int16_t motor_offset_z;
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uint8_t health;
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};
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struct PACKED log_Mode {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t mode;
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uint8_t mode_num;
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};
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/*
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terrain log structure
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*/
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struct PACKED log_TERRAIN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t status;
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int32_t lat;
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int32_t lng;
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uint16_t spacing;
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float terrain_height;
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float current_height;
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uint16_t pending;
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uint16_t loaded;
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};
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/*
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UBlox logging
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*/
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struct PACKED log_Ubx1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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uint16_t noisePerMS;
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uint8_t jamInd;
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uint8_t aPower;
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uint16_t agcCnt;
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};
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struct PACKED log_Ubx2 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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int8_t ofsI;
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uint8_t magI;
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int8_t ofsQ;
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uint8_t magQ;
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};
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struct PACKED log_Ubx3 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t instance;
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float hAcc;
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float vAcc;
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float sAcc;
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};
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struct PACKED log_GPS_RAW {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int32_t iTOW;
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int16_t week;
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uint8_t numSV;
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uint8_t sv;
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double cpMes;
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double prMes;
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float doMes;
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int8_t mesQI;
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int8_t cno;
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uint8_t lli;
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};
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struct PACKED log_GPS_RAWH {
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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_Esc {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
int16_t rpm;
|
|
int16_t voltage;
|
|
int16_t current;
|
|
int16_t temperature;
|
|
};
|
|
|
|
struct PACKED log_AIRSPEED {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
float airspeed;
|
|
float diffpressure;
|
|
int16_t temperature;
|
|
float rawpressure;
|
|
float offset;
|
|
};
|
|
|
|
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_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;
|
|
};
|
|
|
|
/*
|
|
Format characters in the format string for binary log messages
|
|
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" }, \
|
|
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
|
|
"PARM", "QNf", "TimeUS,Name,Value" }, \
|
|
{ LOG_GPS_MSG, sizeof(log_GPS), \
|
|
"GPS", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
|
|
{ LOG_IMU_MSG, sizeof(log_IMU), \
|
|
"IMU", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
|
|
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
|
|
"MSG", "QZ", "TimeUS,Message"}, \
|
|
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
|
|
"RCIN", "Qhhhhhhhhhhhhhh", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
|
|
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
|
|
"RCOU", "Qhhhhhhhhhhhh", "TimeUS,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Ch8,Ch9,Ch10,Ch11,Ch12" }, \
|
|
{ LOG_BARO_MSG, sizeof(log_BARO), \
|
|
"BARO", "Qffcf", "TimeUS,Alt,Press,Temp,CRt" }, \
|
|
{ LOG_POWR_MSG, sizeof(log_POWR), \
|
|
"POWR","QCCH","TimeUS,Vcc,VServo,Flags" }, \
|
|
{ LOG_CMD_MSG, sizeof(log_Cmd), \
|
|
"CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
|
|
{ LOG_RADIO_MSG, sizeof(log_Radio), \
|
|
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
|
|
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
|
|
"CAM", "QIHLLeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }, \
|
|
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
|
|
"ARSP", "Qffcff", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset" }, \
|
|
{ LOG_CURRENT_MSG, sizeof(log_Current), \
|
|
"CURR", "QhhhHfh","TimeUS,Throttle,Volt,Curr,Vcc,CurrTot,Volt2" },\
|
|
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
|
|
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw" }, \
|
|
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
|
|
"MAG", "QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
|
|
{ LOG_MODE_MSG, sizeof(log_Mode), \
|
|
"MODE", "QMB", "TimeUS,Mode,ModeNum" }
|
|
|
|
// messages for more advanced boards
|
|
#define LOG_EXTRA_STRUCTURES \
|
|
{ LOG_GPS2_MSG, sizeof(log_GPS), \
|
|
"GPS2", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
|
|
{ LOG_IMU2_MSG, sizeof(log_IMU), \
|
|
"IMU2", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
|
|
{ LOG_IMU3_MSG, sizeof(log_IMU), \
|
|
"IMU3", "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
|
|
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
|
|
"AHR2","QccCfLL","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
|
|
{ LOG_POS_MSG, sizeof(log_POS), \
|
|
"POS","QLLff","TimeUS,Lat,Lng,Alt,RelAlt" }, \
|
|
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
|
|
"SIM","QccCfLL","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng" }, \
|
|
{ LOG_EKF1_MSG, sizeof(log_EKF1), \
|
|
"EKF1","QccCffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,PN,PE,PD,GX,GY,GZ" }, \
|
|
{ LOG_EKF2_MSG, sizeof(log_EKF2), \
|
|
"EKF2","Qbbbcchhhhhh","TimeUS,Ratio,AZ1bias,AZ2bias,VWN,VWE,MN,ME,MD,MX,MY,MZ" }, \
|
|
{ LOG_EKF3_MSG, sizeof(log_EKF3), \
|
|
"EKF3","Qcccccchhhc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
|
|
{ LOG_EKF4_MSG, sizeof(log_EKF4), \
|
|
"EKF4","QcccccccbbBBH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \
|
|
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
|
|
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
|
|
{ LOG_UBX1_MSG, sizeof(log_Ubx1), \
|
|
"UBX1", "QBHBBH", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt" }, \
|
|
{ LOG_UBX2_MSG, sizeof(log_Ubx2), \
|
|
"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ" }, \
|
|
{ LOG_UBX3_MSG, sizeof(log_Ubx3), \
|
|
"UBX3", "QBfff", "TimeUS,Instance,hAcc,vAcc,sAcc" }, \
|
|
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
|
|
"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli" }, \
|
|
{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
|
|
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat" }, \
|
|
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
|
|
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk" }, \
|
|
{ LOG_ESC1_MSG, sizeof(log_Esc), \
|
|
"ESC1", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC2_MSG, sizeof(log_Esc), \
|
|
"ESC2", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC3_MSG, sizeof(log_Esc), \
|
|
"ESC3", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC4_MSG, sizeof(log_Esc), \
|
|
"ESC4", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC5_MSG, sizeof(log_Esc), \
|
|
"ESC5", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC6_MSG, sizeof(log_Esc), \
|
|
"ESC6", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC7_MSG, sizeof(log_Esc), \
|
|
"ESC7", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_ESC8_MSG, sizeof(log_Esc), \
|
|
"ESC8", "Qcccc", "TimeUS,RPM,Volt,Curr,Temp" }, \
|
|
{ LOG_EKF5_MSG, sizeof(log_EKF5), \
|
|
"EKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
|
|
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
|
|
"MAG2","QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
|
|
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
|
|
"MAG3","QhhhhhhhhhB", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
|
|
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
|
|
"ACC1", "QQfff", "TimeUS,SampleUS,AccX,AccY,AccZ" }, \
|
|
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
|
|
"ACC2", "QQfff", "TimeUS,SampleUS,AccX,AccY,AccZ" }, \
|
|
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
|
|
"ACC3", "QQfff", "TimeUS,SampleUS,AccX,AccY,AccZ" }, \
|
|
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
|
|
"GYR1", "QQfff", "TimeUS,SampleUS,GyrX,GyrY,GyrZ" }, \
|
|
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
|
|
"GYR2", "QQfff", "TimeUS,SampleUS,GyrX,GyrY,GyrZ" }, \
|
|
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
|
|
"GYR3", "QQfff", "TimeUS,SampleUS,GyrX,GyrY,GyrZ" }, \
|
|
{ LOG_PIDR_MSG, sizeof(log_PID), \
|
|
"PIDR", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
|
|
{ LOG_PIDP_MSG, sizeof(log_PID), \
|
|
"PIDP", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
|
|
{ LOG_PIDY_MSG, sizeof(log_PID), \
|
|
"PIDY", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
|
|
{ LOG_PIDA_MSG, sizeof(log_PID), \
|
|
"PIDA", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
|
|
{ LOG_PIDS_MSG, sizeof(log_PID), \
|
|
"PIDS", "Qffffff", "TimeUS,Des,P,I,D,FF,AFF" }, \
|
|
{ LOG_BAR2_MSG, sizeof(log_BARO), \
|
|
"BAR2", "Qffcf", "TimeUS,Alt,Press,Temp,CRt" }, \
|
|
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
|
|
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \
|
|
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
|
|
"IMT","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
|
|
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
|
|
"IMT2","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
|
|
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
|
|
"IMT3","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
|
|
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
|
|
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
|
|
{ LOG_RPM_MSG, sizeof(log_RPM), \
|
|
"RPM", "Qff", "TimeUS,rpm1,rpm2" }
|
|
|
|
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
|
|
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
|
|
#else
|
|
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES
|
|
#endif
|
|
|
|
// message types 0 to 128 reversed for vehicle specific use
|
|
|
|
// message types for common messages
|
|
enum LogMessages {
|
|
LOG_FORMAT_MSG = 128,
|
|
LOG_PARAMETER_MSG,
|
|
LOG_GPS_MSG,
|
|
LOG_GPS2_MSG,
|
|
LOG_IMU_MSG,
|
|
LOG_MESSAGE_MSG,
|
|
LOG_RCIN_MSG,
|
|
LOG_RCOUT_MSG,
|
|
LOG_IMU2_MSG,
|
|
LOG_BARO_MSG,
|
|
LOG_POWR_MSG,
|
|
LOG_AHR2_MSG,
|
|
LOG_SIMSTATE_MSG,
|
|
LOG_EKF1_MSG,
|
|
LOG_EKF2_MSG,
|
|
LOG_EKF3_MSG,
|
|
LOG_EKF4_MSG,
|
|
LOG_CMD_MSG,
|
|
LOG_RADIO_MSG,
|
|
LOG_ATRP_MSG,
|
|
LOG_CAMERA_MSG,
|
|
LOG_IMU3_MSG,
|
|
LOG_TERRAIN_MSG,
|
|
LOG_UBX1_MSG,
|
|
LOG_UBX2_MSG,
|
|
LOG_UBX3_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_EKF5_MSG,
|
|
LOG_BAR2_MSG,
|
|
LOG_ARSP_MSG,
|
|
LOG_ATTITUDE_MSG,
|
|
LOG_CURRENT_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_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_VIBE_MSG,
|
|
LOG_IMUDT_MSG,
|
|
LOG_IMUDT2_MSG,
|
|
LOG_IMUDT3_MSG,
|
|
LOG_ORGN_MSG,
|
|
LOG_RPM_MSG
|
|
};
|
|
|
|
enum LogOriginType {
|
|
ekf_origin = 0,
|
|
ahrs_home = 1
|
|
};
|
|
|
|
// message types 200 to 210 reversed for GPS driver use
|
|
// message types 211 to 220 reversed for autotune use
|
|
|
|
#include "DataFlash_Block.h"
|
|
#include "DataFlash_File.h"
|
|
|
|
#endif
|