mirror of https://github.com/ArduPilot/ardupilot
89 lines
3.4 KiB
C
89 lines
3.4 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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// @LoggerMessage: XKY0,NKY0
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// @Description: EKF Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this data is for
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// @Field: YC: GSF yaw estimate (deg)
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (deg)
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (deg)
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (deg)
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (deg)
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (deg)
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (deg)
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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_KY0 {
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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,NKY1
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// @Description: EKF Yaw Estimator Innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF 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_KY1 {
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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 KY0_FMT "QBffffffffffff"
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#define KY0_LABELS "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4"
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#define KY0_UNITS "s#hdhhhhh-----"
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#define KY0_MULTS "F-000000000000"
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#define KY1_FMT "QBffffffffff"
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#define KY1_LABELS "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4"
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#define KY1_UNITS "s#nnnnnnnnnn"
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#define KY1_MULTS "F-0000000000"
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#define LOG_STRUCTURE_FROM_NAVEKF \
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{ LOG_XKY0_MSG, sizeof(log_KY0), \
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"XKY0", KY0_FMT, KY0_LABELS, KY0_UNITS, KY0_MULTS, true }, \
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{ LOG_XKY1_MSG, sizeof(log_KY1), \
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"XKY1", KY1_FMT, KY1_LABELS, KY1_UNITS, KY1_MULTS , true }, \
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{ LOG_NKY0_MSG, sizeof(log_KY0), \
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"NKY0", KY0_FMT, KY0_LABELS, KY0_UNITS, KY0_MULTS, true }, \
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{ LOG_NKY1_MSG, sizeof(log_KY1), \
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"NKY1", KY1_FMT, KY1_LABELS, KY1_UNITS, KY1_MULTS , true },
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