mirror of
https://github.com/ArduPilot/ardupilot
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867f656033
Link GPS.Status to AP_GPS::GPS_Status enum Remove units on fields set to Bytes which are not Set the unit of GPS.GMS and GRAW.WkMS to ms (no unit specified before). Change the unit of GPS.HDop and GPA.VDop from m to no-unit.
222 lines
7.3 KiB
C
222 lines
7.3 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#include "LogStructure_SBP.h"
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#define LOG_IDS_FROM_GPS \
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LOG_GPS_MSG, \
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LOG_GPA_MSG, \
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LOG_GPS_RAW_MSG, \
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LOG_GPS_RAWH_MSG, \
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LOG_GPS_RAWS_MSG, \
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LOG_GPS_UBX1_MSG, \
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LOG_GPS_UBX2_MSG, \
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LOG_IDS_FROM_GPS_SBP
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// @LoggerMessage: GPS
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// @Description: Information received from GNSS systems attached to the autopilot
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// @Field: TimeUS: Time since system startup
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// @Field: I: GPS instance number
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// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
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// @FieldValueEnum: Status: AP_GPS::GPS_Status
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// @Field: GMS: milliseconds since start of GPS Week
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// @Field: GWk: weeks since 5 Jan 1980
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// @Field: NSats: number of satellites visible
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// @Field: HDop: horizontal precision
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// @Field: Lat: latitude
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// @Field: Lng: longitude
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// @Field: Alt: altitude
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// @Field: Spd: ground speed
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// @Field: GCrs: ground course
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// @Field: VZ: vertical speed
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// @Field: Yaw: vehicle yaw
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// @Field: U: boolean value indicating whether this GPS is in use
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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 instance;
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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 altitude;
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float ground_speed;
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float ground_course;
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float vel_z;
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float yaw;
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uint8_t used;
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};
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// @LoggerMessage: GPA
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// @Description: GPS accuracy information
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// @Field: I: GPS instance number
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// @Field: TimeUS: Time since system startup
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// @Field: VDop: vertical degree of procession
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// @Field: HAcc: horizontal position accuracy
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// @Field: VAcc: vertical position accuracy
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// @Field: SAcc: speed accuracy
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// @Field: YAcc: yaw accuracy
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// @Field: VV: true if vertical velocity is available
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// @Field: SMS: time since system startup this sample was taken
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// @Field: Delta: system time delta between the last two reported positions
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// @Field: Und: Undulation
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// @Field: RTCMFU: RTCM fragments used
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// @Field: RTCMFD: RTCM fragments discarded
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struct PACKED log_GPA {
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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 vdop;
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uint16_t hacc;
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uint16_t vacc;
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uint16_t sacc;
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float yaw_accuracy;
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uint8_t have_vv;
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uint32_t sample_ms;
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uint16_t delta_ms;
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float undulation;
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uint16_t rtcm_fragments_used;
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uint16_t rtcm_fragments_discarded;
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};
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/*
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UBlox logging
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*/
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// @LoggerMessage: UBX1
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// @Description: uBlox-specific GPS information (part 1)
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// @Field: TimeUS: Time since system startup
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// @Field: Instance: GPS instance number
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// @Field: noisePerMS: noise level as measured by GPS
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// @Field: jamInd: jamming indicator; higher is more likely jammed
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// @Field: aPower: antenna power indicator; 2 is don't know
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// @Field: agcCnt: automatic gain control monitor
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// @Field: config: bitmask for messages which haven't been seen
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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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uint32_t config;
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};
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// @LoggerMessage: UBX2
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// @Description: uBlox-specific GPS information (part 2)
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// @Field: TimeUS: Time since system startup
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// @Field: Instance: GPS instance number
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// @Field: ofsI: imbalance of I part of complex signal
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// @Field: magI: magnitude of I part of complex signal
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// @Field: ofsQ: imbalance of Q part of complex signal
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// @Field: magQ: magnitude of Q part of complex signal
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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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// @LoggerMessage: GRAW
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// @Description: Raw uBlox data
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// @Field: TimeUS: Time since system startup
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// @Field: WkMS: receiver TimeOfWeek measurement
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// @Field: Week: GPS week
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// @Field: numSV: number of space vehicles seen
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// @Field: sv: space vehicle number of first vehicle
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// @Field: cpMes: carrier phase measurement
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// @Field: prMes: pseudorange measurement
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// @Field: doMes: Doppler measurement
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// @Field: mesQI: measurement quality index
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// @Field: cno: carrier-to-noise density ratio
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// @Field: lli: loss of lock indicator
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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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// @LoggerMessage: GRXH
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// @Description: Raw uBlox data - header
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// @Field: TimeUS: Time since system startup
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// @Field: rcvTime: receiver TimeOfWeek measurement
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// @Field: week: GPS week
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// @Field: leapS: GPS leap seconds
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// @Field: numMeas: number of space-vehicle measurements to follow
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// @Field: recStat: receiver tracking status bitfield
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struct PACKED log_GPS_RAWH {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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double rcvTow;
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uint16_t week;
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int8_t leapS;
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uint8_t numMeas;
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uint8_t recStat;
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};
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// @LoggerMessage: GRXS
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// @Description: Raw uBlox data - space-vehicle data
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// @Field: TimeUS: Time since system startup
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// @Field: prMes: Pseudorange measurement
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// @Field: cpMes: Carrier phase measurement
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// @Field: doMes: Doppler measurement
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// @Field: gnss: GNSS identifier
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// @Field: sv: Satellite identifier
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// @Field: freq: GLONASS frequency slot
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// @Field: lock: carrier phase locktime counter
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// @Field: cno: carrier-to-noise density ratio
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// @Field: prD: estimated pseudorange measurement standard deviation
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// @Field: cpD: estimated carrier phase measurement standard deviation
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// @Field: doD: estimated Doppler measurement standard deviation
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// @Field: trk: tracking status bitfield
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struct PACKED log_GPS_RAWS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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double prMes;
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double cpMes;
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float doMes;
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uint8_t gnssId;
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uint8_t svId;
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uint8_t freqId;
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uint16_t locktime;
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uint8_t cno;
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uint8_t prStdev;
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uint8_t cpStdev;
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uint8_t doStdev;
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uint8_t trkStat;
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};
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#define LOG_STRUCTURE_FROM_GPS \
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{ LOG_GPS_MSG, sizeof(log_GPS), \
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"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#-s-S-DUmnhnh-", "F--C-0BGGB000--" , true }, \
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{ LOG_GPA_MSG, sizeof(log_GPA), \
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"GPA", "QBCCCCfBIHfHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und,RTCMFU,RTCMFD", "s#-mmnd-ssm--", "F-BBBB0-CC0--" , true }, \
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{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
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"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s#-----", "F------" , true }, \
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{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
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"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s#----", "F-----" , true }, \
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{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
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"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "ss-S-------", "FC-0-------" , true }, \
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{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
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"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" , true }, \
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{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
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"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" , true }, \
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LOG_STRUCTURE_FROM_GPS_SBP
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