mirror of https://github.com/ArduPilot/ardupilot
70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
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enum log_messages {
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// plane specific messages
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LOG_PLANE_ATTITUDE_MSG = 9,
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LOG_PLANE_COMPASS_MSG = 11,
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LOG_PLANE_AIRSPEED_MSG = 17,
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// copter specific messages
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LOG_COPTER_ATTITUDE_MSG = 1,
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LOG_COPTER_COMPASS_MSG = 15,
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LOG_COPTER_NAV_TUNING_MSG = 5,
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// rover specific messages
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LOG_ROVER_ATTITUDE_MSG = 8,
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LOG_ROVER_COMPASS_MSG = 10,
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};
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class LogReader
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{
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public:
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LogReader(AP_AHRS &_ahrs, AP_InertialSensor &_ins, AP_Baro_HIL &_baro, AP_Compass_HIL &_compass, AP_GPS &_gps, AP_Airspeed &_airspeed);
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bool open_log(const char *logfile);
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bool update(uint8_t &type);
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bool wait_type(uint8_t type);
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const Vector3f &get_attitude(void) const { return attitude; }
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const Vector3f &get_inavpos(void) const { return inavpos; }
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const Vector3f &get_sim_attitude(void) const { return sim_attitude; }
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const float &get_relalt(void) const { return rel_altitude; }
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enum vehicle_type { VEHICLE_UNKNOWN, VEHICLE_COPTER, VEHICLE_PLANE, VEHICLE_ROVER };
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vehicle_type vehicle;
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bool set_parameter(const char *name, float value);
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void set_accel_mask(uint8_t mask) { accel_mask = mask; }
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void set_gyro_mask(uint8_t mask) { gyro_mask = mask; }
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private:
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int fd;
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AP_AHRS &ahrs;
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AP_InertialSensor &ins;
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AP_Baro_HIL &baro;
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AP_Compass_HIL &compass;
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AP_GPS &gps;
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AP_Airspeed &airspeed;
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uint8_t accel_mask;
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uint8_t gyro_mask;
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uint32_t ground_alt_cm;
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#define LOGREADER_MAX_FORMATS 100
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uint8_t num_formats;
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struct log_Format formats[LOGREADER_MAX_FORMATS];
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Vector3f attitude;
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Vector3f sim_attitude;
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Vector3f inavpos;
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float rel_altitude;
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void wait_timestamp(uint32_t timestamp);
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void process_plane(uint8_t type, uint8_t *data, uint16_t length);
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void process_copter(uint8_t type, uint8_t *data, uint16_t length);
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void process_rover(uint8_t type, uint8_t *data, uint16_t length);
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};
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