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ardupilot/libraries/AP_DAL/LogStructure.h

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#pragma once
#include <AP_Logger/LogStructure.h>
#include <AP_Math/vector3.h>
#include <AP_Math/vector2.h>
#include <AP_Math/matrix3.h>
#include <AP_Math/quaternion.h>
#define LOG_IDS_FROM_DAL \
LOG_RFRH_MSG, \
LOG_RFRF_MSG, \
LOG_REV2_MSG, \
LOG_RSO2_MSG, \
LOG_RWA2_MSG, \
LOG_REV3_MSG, \
LOG_RSO3_MSG, \
LOG_RWA3_MSG, \
LOG_REY3_MSG, \
LOG_RFRN_MSG, \
LOG_RISH_MSG, \
LOG_RISI_MSG, \
LOG_RBRH_MSG, \
LOG_RBRI_MSG, \
LOG_RRNH_MSG, \
LOG_RRNI_MSG, \
LOG_RGPH_MSG, \
LOG_RGPI_MSG, \
LOG_RGPJ_MSG, \
LOG_RASH_MSG, \
LOG_RASI_MSG, \
LOG_RBCH_MSG, \
LOG_RBCI_MSG, \
LOG_RVOH_MSG, \
LOG_RMGH_MSG, \
LOG_RMGI_MSG, \
LOG_ROFH_MSG, \
LOG_REPH_MSG, \
LOG_RSLL_MSG, \
LOG_REVH_MSG, \
LOG_RWOH_MSG, \
LOG_RBOH_MSG
// Replay Data Structures
struct log_RFRH {
uint64_t time_us;
uint32_t time_flying_ms;
uint8_t _end;
};
struct log_RFRF {
uint8_t frame_types;
uint8_t core_slow;
uint8_t _end;
};
struct log_RFRN {
int32_t lat;
int32_t lng;
int32_t alt;
float EAS2TAS;
uint32_t available_memory;
Vector3f ahrs_trim;
uint8_t vehicle_class;
uint8_t ekf_type;
uint8_t armed:1;
uint8_t unused:1; // was get_compass_is_null
uint8_t fly_forward:1;
uint8_t ahrs_airspeed_sensor_enabled:1;
uint8_t opticalflow_enabled:1;
uint8_t wheelencoder_enabled:1;
uint8_t takeoff_expected:1;
uint8_t touchdown_expected:1;
uint8_t _end;
};
// Replay Data Structure - Inertial Sensor header
struct log_RISH {
uint16_t loop_rate_hz;
uint8_t primary_gyro;
uint8_t primary_accel;
float loop_delta_t;
uint8_t accel_count;
uint8_t gyro_count;
uint8_t _end;
};
// Replay Data Structure - Inertial Sensor instance data
struct log_RISI {
Vector3f delta_velocity;
Vector3f delta_angle;
float delta_velocity_dt;
float delta_angle_dt;
uint8_t use_accel:1;
uint8_t use_gyro:1;
uint8_t get_delta_velocity_ret:1;
uint8_t get_delta_angle_ret:1;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: REV2
// @Description: Replay Event
struct log_REV2 {
uint8_t event;
uint8_t _end;
};
// @LoggerMessage: RSO2
// @Description: Replay Set Origin event
struct log_RSO2 {
int32_t lat;
int32_t lng;
int32_t alt;
uint8_t _end;
};
// @LoggerMessage: RWA2
// @Description: Replay set-default-airspeed event
struct log_RWA2 {
float airspeed;
float uncertainty;
uint8_t _end;
};
// same structures for EKF3
#define log_REV3 log_REV2
#define log_RSO3 log_RSO2
#define log_RWA3 log_RWA2
// @LoggerMessage: REY3
// @Description: Replay Euler Yaw event
struct log_REY3 {
float yawangle;
float yawangleerr;
uint32_t timestamp_ms;
uint8_t type;
uint8_t _end;
};
// @LoggerMessage: RBRH
// @Description: Replay Data Barometer Header
struct log_RBRH {
uint8_t primary;
uint8_t num_instances;
uint8_t _end;
};
// @LoggerMessage: RBRI
// @Description: Replay Data Barometer Instance
struct log_RBRI {
uint32_t last_update_ms;
float altitude; // from get_altitude
bool healthy;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RRNH
// @Description: Replay Data Rangefinder Header
struct log_RRNH {
// this is rotation-pitch-270!
int16_t ground_clearance_cm;
int16_t max_distance_cm;
uint8_t num_sensors;
uint8_t _end;
};
// @LoggerMessage: RRNI
// @Description: Replay Data Rangefinder Instance
struct log_RRNI {
Vector3f pos_offset;
uint16_t distance_cm;
uint8_t orientation;
uint8_t status;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RGPH
// @Description: Replay Data GPS Header
struct log_RGPH {
uint8_t num_sensors;
uint8_t primary_sensor;
uint8_t _end;
};
// @LoggerMessage: RGPI
// @Description: Replay Data GPS Instance, infrequently changing data
struct log_RGPI {
Vector3f antenna_offset;
float lag_sec;
uint8_t have_vertical_velocity:1;
uint8_t horizontal_accuracy_returncode:1;
uint8_t vertical_accuracy_returncode:1;
uint8_t get_lag_returncode:1;
uint8_t speed_accuracy_returncode:1;
uint8_t gps_yaw_deg_returncode:1;
uint8_t status;
uint8_t num_sats;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RGPJ
// @Description: Replay Data GPS Instance - rapidly changing data
struct log_RGPJ {
uint32_t last_message_time_ms;
Vector3f velocity;
float sacc;
float yaw_deg;
float yaw_accuracy_deg;
uint32_t yaw_deg_time_ms;
int32_t lat;
int32_t lng;
int32_t alt;
float hacc;
float vacc;
uint16_t hdop;
uint8_t instance;
uint8_t _end;
};
// Replay Data Structure - Airspeed Sensor header
struct log_RASH {
uint8_t num_sensors;
uint8_t primary;
uint8_t _end;
};
// Replay Data Structure - Airspeed Sensor instance
struct log_RASI {
float airspeed;
uint32_t last_update_ms;
bool healthy;
bool use;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RMGH
// @Description: Replay Data Magnetometer Header
struct log_RMGH {
float declination;
bool available;
uint8_t count;
bool auto_declination_enabled;
uint8_t num_enabled;
bool learn_offsets_enabled;
bool consistent;
uint8_t first_usable;
uint8_t _end;
};
// @LoggerMessage: RMGI
// @Description: Replay Data Magnetometer Instance
struct log_RMGI {
uint32_t last_update_usec;
Vector3f offsets;
Vector3f field;
bool use_for_yaw;
bool healthy;
bool have_scale_factor;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RBCH
// @Description: Replay Data Beacon Header
struct log_RBCH {
Vector3f vehicle_position_ned;
float accuracy_estimate;
int32_t origin_lat;
int32_t origin_lng;
int32_t origin_alt;
uint8_t get_vehicle_position_ned_returncode:1;
uint8_t get_origin_returncode:1;
uint8_t enabled:1;
uint8_t count;
uint8_t _end;
};
// @LoggerMessage: RBCI
// @Description: Replay Data Beacon Instance
struct log_RBCI {
uint32_t last_update_ms;
Vector3f position;
float distance;
uint8_t healthy;
uint8_t instance;
uint8_t _end;
};
// @LoggerMessage: RVOH
// @Description: Replay Data Visual Odometry data
struct log_RVOH {
Vector3f pos_offset;
uint32_t delay_ms;
uint8_t healthy;
bool enabled;
uint8_t _end;
};
// @LoggerMessage: ROFH
// @Description: Replay optical flow data
struct log_ROFH {
Vector2f rawFlowRates;
Vector2f rawGyroRates;
uint32_t msecFlowMeas;
Vector3f posOffset;
float heightOverride;
uint8_t rawFlowQuality;
uint8_t _end;
};
// @LoggerMessage: REPH
// @Description: Replay external position data
struct log_REPH {
Vector3f pos;
Quaternion quat;
float posErr;
float angErr;
uint32_t timeStamp_ms;
uint32_t resetTime_ms;
uint16_t delay_ms;
uint8_t _end;
};
// @LoggerMessage: RSLL
// @Description: Replay Set Lat Lng event
struct log_RSLL {
int32_t lat; // WGS-84 latitude in 1E-7 degrees
int32_t lng; // WGS-84 longitude in 1E7 degrees
float posAccSD; // horizontal position 1 STD uncertainty (m)
uint32_t timestamp_ms;
uint8_t _end;
};
// @LoggerMessage: REVH
// @Description: Replay external position data
struct log_REVH {
Vector3f vel;
float err;
uint32_t timeStamp_ms;
uint16_t delay_ms;
uint8_t _end;
};
// @LoggerMessage: RWOH
// @Description: Replay wheel odometry data
struct log_RWOH {
float delAng;
float delTime;
uint32_t timeStamp_ms;
Vector3f posOffset;
float radius;
uint8_t _end;
};
// @LoggerMessage: RBOH
// @Description: Replay body odometry data
struct log_RBOH {
float quality;
Vector3f delPos;
Vector3f delAng;
float delTime;
uint32_t timeStamp_ms;
Vector3f posOffset;
uint16_t delay_ms;
uint8_t _end;
};
#define RLOG_SIZE(sname) 3+offsetof(struct log_ ##sname,_end)
#define LOG_STRUCTURE_FROM_DAL \
{ LOG_RFRH_MSG, RLOG_SIZE(RFRH), \
"RFRH", "QI", "TimeUS,TF", "s-", "F-" }, \
{ LOG_RFRF_MSG, RLOG_SIZE(RFRF), \
"RFRF", "BB", "FTypes,Slow", "--", "--" }, \
{ LOG_RFRN_MSG, RLOG_SIZE(RFRN), \
"RFRN", "IIIfIfffBBB", "HLat,HLon,HAlt,E2T,AM,TX,TY,TZ,VC,EKT,Flags", "DUm????????", "GGB--------" }, \
{ LOG_REV2_MSG, RLOG_SIZE(REV2), \
"REV2", "B", "Event", "-", "-" }, \
{ LOG_RSO2_MSG, RLOG_SIZE(RSO2), \
"RSO2", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
{ LOG_RWA2_MSG, RLOG_SIZE(RWA2), \
"RWA2", "ff", "Airspeed,uncertainty", "nn", "00" }, \
{ LOG_REV3_MSG, RLOG_SIZE(REV3), \
"REV3", "B", "Event", "-", "-" }, \
{ LOG_RSO3_MSG, RLOG_SIZE(RSO3), \
"RSO3", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
{ LOG_RWA3_MSG, RLOG_SIZE(RWA3), \
"RWA3", "ff", "Airspeed,Uncertainty", "nn", "00" }, \
{ LOG_REY3_MSG, RLOG_SIZE(REY3), \
"REY3", "ffIB", "yawangle,yawangleerr,timestamp_ms,type", "???-", "???-" }, \
{ LOG_RISH_MSG, RLOG_SIZE(RISH), \
"RISH", "HBBfBB", "LR,PG,PA,LD,AC,GC", "------", "------" }, \
{ LOG_RISI_MSG, RLOG_SIZE(RISI), \
"RISI", "ffffffffBB", "DVX,DVY,DVZ,DAX,DAY,DAZ,DVDT,DADT,Flags,I", "---------#", "----------" }, \
{ LOG_RASH_MSG, RLOG_SIZE(RASH), \
"RASH", "BB", "Primary,NumInst", "--", "--" }, \
{ LOG_RASI_MSG, RLOG_SIZE(RASI), \
"RASI", "fIBBB", "pd,UpdateMS,H,Use,I", "----#", "-----" }, \
{ LOG_RBRH_MSG, RLOG_SIZE(RBRH), \
"RBRH", "BB", "Primary,NumInst", "--", "--" }, \
{ LOG_RBRI_MSG, RLOG_SIZE(RBRI), \
"RBRI", "IfBB", "LastUpdate,Alt,H,I", "---#", "----" }, \
{ LOG_RRNH_MSG, RLOG_SIZE(RRNH), \
"RRNH", "hhB", "GCl,MaxD,NumSensors", "???", "???" }, \
{ LOG_RRNI_MSG, RLOG_SIZE(RRNI), \
"RRNI", "fffHBBB", "PX,PY,PZ,Dist,Orient,Status,I", "------#", "-------" }, \
{ LOG_RGPH_MSG, RLOG_SIZE(RGPH), \
"RGPH", "BB", "NumInst,Primary", "--", "--" }, \
{ LOG_RGPI_MSG, RLOG_SIZE(RGPI), \
"RGPI", "ffffBBBB", "OX,OY,OZ,Lg,Flags,Stat,NSats,I", "-------#", "--------" }, \
{ LOG_RGPJ_MSG, RLOG_SIZE(RGPJ), \
"RGPJ", "IffffffIiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,YT,Lat,Lon,Alt,HA,VA,HD,I", "--------------#", "---------------" }, \
{ LOG_RMGH_MSG, RLOG_SIZE(RMGH), \
"RMGH", "fBBBBBBB", "Dec,Avail,NumInst,AutoDec,NumEna,LOE,C,FUsable", "--------", "--------" }, \
{ LOG_RMGI_MSG, RLOG_SIZE(RMGI), \
"RMGI", "IffffffBBBB", "LU,OX,OY,OZ,FX,FY,FZ,UFY,H,HSF,I", "----------#", "-----------" }, \
{ LOG_RBCH_MSG, RLOG_SIZE(RBCH), \
"RBCH", "ffffiiiBB", "PX,PY,PZ,AE,OLat,OLng,OAlt,Flags,NumInst", "---------", "---------" }, \
{ LOG_RBCI_MSG, RLOG_SIZE(RBCI), \
"RBCI", "IffffBB", "LU,PX,PY,PZ,Dist,H,I", "smmmm-#", "?0000--" }, \
{ LOG_RVOH_MSG, RLOG_SIZE(RVOH), \
"RVOH", "fffIBB", "OX,OY,OZ,Del,H,Ena", "------", "------" }, \
{ LOG_ROFH_MSG, RLOG_SIZE(ROFH), \
"ROFH", "ffffIffffB", "FX,FY,GX,GY,Tms,PX,PY,PZ,HgtOvr,Qual", "----------", "----------" }, \
{ LOG_REPH_MSG, RLOG_SIZE(REPH), \
"REPH", "fffffffffIIH", "PX,PY,PZ,Q1,Q2,Q3,Q4,PEr,AEr,TS,RT,D", "------------", "------------" }, \
{ LOG_RSLL_MSG, RLOG_SIZE(RSLL), \
"RSLL", "IIfI", "Lat,Lng,PosAccSD,TS", "DU--", "GG--" }, \
{ LOG_REVH_MSG, RLOG_SIZE(REVH), \
"REVH", "ffffIH", "VX,VY,VZ,Er,TS,D", "------", "------" }, \
{ LOG_RWOH_MSG, RLOG_SIZE(RWOH), \
"RWOH", "ffIffff", "DA,DT,TS,PX,PY,PZ,R", "-------", "-------" }, \
{ LOG_RBOH_MSG, RLOG_SIZE(RBOH), \
"RBOH", "ffffffffIfffH", "Q,DPX,DPY,DPZ,DAX,DAY,DAZ,DT,TS,OX,OY,OZ,D", "-------------", "-------------" },
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