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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.
85 lines
2.4 KiB
C
85 lines
2.4 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#include "AP_GPS_config.h"
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#define LOG_IDS_FROM_GPS_SBP \
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LOG_MSG_SBPHEALTH, \
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LOG_MSG_SBPRAWH, \
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LOG_MSG_SBPRAWM, \
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LOG_MSG_SBPEVENT
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// @LoggerMessage: SBPH
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// @Description: Swift Health Data
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// @Field: TimeUS: Time since system startup
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// @Field: CrcError: Number of packet CRC errors on serial connection
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// @Field: LastInject: Timestamp of last raw data injection to GPS
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// @Field: IARhyp: Current number of integer ambiguity hypotheses
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struct PACKED log_SbpHealth {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint32_t crc_error_counter;
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uint32_t last_injected_data_ms;
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uint32_t last_iar_num_hypotheses;
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};
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// @LoggerMessage: SBRH
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// @Description: Swift Raw Message Data
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// @Field: TimeUS: Time since system startup
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// @Field: msg_flag: Swift message type
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// @Field: 1: Sender ID
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// @Field: 2: index; always 1
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// @Field: 3: pages; number of pages received
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// @Field: 4: msg length; number of bytes received
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// @Field: 5: unused; always zero
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// @Field: 6: data received from device
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struct PACKED log_SbpRAWH {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t msg_type;
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uint16_t sender_id;
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uint8_t index;
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uint8_t pages;
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uint8_t msg_len;
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uint8_t res;
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uint8_t data[48];
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};
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struct PACKED log_SbpRAWM {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t msg_type;
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uint16_t sender_id;
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uint8_t index;
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uint8_t pages;
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uint8_t msg_len;
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uint8_t res;
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uint8_t data[104];
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};
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struct PACKED log_SbpEvent {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint16_t wn;
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uint32_t tow;
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int32_t ns_residual;
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uint8_t level;
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uint8_t quality;
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};
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#if AP_GPS_SBP_ENABLED
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#define LOG_STRUCTURE_FROM_GPS_SBP \
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{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
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"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" , true }, \
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{ LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
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"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s-------", "F-------" , true }, \
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{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
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"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" , true }, \
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{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
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"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" },
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#else
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#define LOG_STRUCTURE_FROM_GPS_SBP
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#endif
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