mirror of https://github.com/ArduPilot/ardupilot
150 lines
5.6 KiB
C
150 lines
5.6 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_NAVEKF3 \
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LOG_XKT_MSG, \
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LOG_XKFM_MSG, \
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LOG_XKY0_MSG, \
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LOG_XKY1_MSG, \
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LOG_XKTV_MSG
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// @LoggerMessage: XKT
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// @Description: EKF3 timing information
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: Cnt: count of samples used to create this message
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// @Field: IMUMin: smallest IMU sample interval
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// @Field: IMUMax: largest IMU sample interval
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// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum)
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// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum)
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// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum)
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// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum)
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// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum)
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// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum)
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struct PACKED log_XKT {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint32_t timing_count;
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float dtIMUavg_min;
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float dtIMUavg_max;
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float dtEKFavg_min;
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float dtEKFavg_max;
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float delAngDT_min;
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float delAngDT_max;
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float delVelDT_min;
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float delVelDT_max;
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};
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// @LoggerMessage: XKFM
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// @Description: EKF3 diagnostic data for on-ground-and-not-moving check
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: OGNM: True of on ground and not moving
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// @Field: GLR: Gyroscope length ratio
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// @Field: ALR: Accelerometer length ratio
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// @Field: GDR: Gyroscope rate of change ratio
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// @Field: ADR: Accelerometer rate of change ratio
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struct PACKED log_XKFM {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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uint8_t ongroundnotmoving;
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float gyro_length_ratio;
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float accel_length_ratio;
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float gyro_diff_ratio;
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float accel_diff_ratio;
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};
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// @LoggerMessage: XKTV
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// @Description: EKF3 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: TVS: Tilt Error Variance from symbolic equations (rad^2)
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// @Field: TVD: Tilt Error Variance from difference method (rad^2)
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struct PACKED log_XKTV {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float tvs;
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float tvd;
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};
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// @LoggerMessage: XKY0
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// @Description: EKF3 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: YC: GSF yaw estimate (rad)
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
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// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0
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// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1
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// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2
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// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3
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// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4
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struct PACKED log_XKY0 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float yaw_composite;
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float yaw_composite_variance;
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float yaw0;
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float yaw1;
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float yaw2;
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float yaw3;
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float yaw4;
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float wgt0;
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float wgt1;
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float wgt2;
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float wgt3;
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float wgt4;
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};
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// @LoggerMessage: XKY1
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// @Description: EKF3 Yaw Estimator Innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s)
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// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s)
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// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s)
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// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s)
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// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s)
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// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s)
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struct PACKED log_XKY1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t core;
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float ivn0;
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float ivn1;
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float ivn2;
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float ivn3;
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float ivn4;
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float ive0;
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float ive1;
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float ive2;
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float ive3;
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float ive4;
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};
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#define LOG_STRUCTURE_FROM_NAVEKF3 \
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{ LOG_XKT_MSG, sizeof(log_XKT), \
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"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \
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{ LOG_XKTV_MSG, sizeof(log_XKTV), \
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"XKTV", "QBff", "TimeUS,C,TVS,TVD", "s#rr", "F-00"}, \
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{ LOG_XKY0_MSG, sizeof(log_XKY0), \
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"XKY0", "QBffffffffffff", "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4", "s#rrrrrrr-----", "F-000000000000"}, \
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{ LOG_XKY1_MSG, sizeof(log_XKY1), \
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"XKY1", "QBffffffffff", "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4", "s#nnnnnnnnnn", "F-0000000000"}, \
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{ LOG_XKFM_MSG, sizeof(log_XKFM), \
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"XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s------", "F------"},
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