mirror of https://github.com/ArduPilot/ardupilot
520 lines
18 KiB
C
520 lines
18 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_NAVEKF3 \
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LOG_XKF0_MSG, \
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LOG_XKF1_MSG, \
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LOG_XKF2_MSG, \
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LOG_XKF3_MSG, \
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LOG_XKF4_MSG, \
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LOG_XKF5_MSG, \
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LOG_XKFD_MSG, \
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LOG_XKFM_MSG, \
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LOG_XKFS_MSG, \
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LOG_XKQ_MSG, \
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LOG_XKT_MSG, \
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LOG_XKTV_MSG, \
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LOG_XKV1_MSG, \
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LOG_XKV2_MSG, \
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LOG_XKY0_MSG, \
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LOG_XKY1_MSG
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// @LoggerMessage: XKF0
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// @Description: EKF3 beacon sensor diagnostics
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: ID: Beacon sensor ID
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// @Field: rng: Beacon range
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// @Field: innov: Beacon range innovation
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// @Field: SIV: sqrt of beacon range innovation variance
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// @Field: TR: Beacon range innovation consistency test ratio
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// @Field: BPN: Beacon north position
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// @Field: BPE: Beacon east position
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// @Field: BPD: Beacon down position
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// @Field: OFH: High estimate of vertical position offset of beacons rel to EKF origin
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// @Field: OFL: Low estimate of vertical position offset of beacons rel to EKF origin
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// @Field: OFN: North position of receiver rel to EKF origin
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// @Field: OFE: East position of receiver rel to EKF origin
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// @Field: OFD: Down position of receiver rel to EKF origin
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struct PACKED log_XKF0 {
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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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uint8_t ID; // beacon identifier
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int16_t rng; // beacon range (cm)
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int16_t innov; // beacon range innovation (cm)
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uint16_t sqrtInnovVar; // sqrt of beacon range innovation variance (cm)
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uint16_t testRatio; // beacon range innovation consistency test ratio *100
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int16_t beaconPosN; // beacon north position (cm)
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int16_t beaconPosE; // beacon east position (cm)
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int16_t beaconPosD; // beacon down position (cm)
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int16_t offsetHigh; // high estimate of vertical position offset of beacons rel to EKF origin (cm)
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int16_t offsetLow; // low estimate of vertical position offset of beacons rel to EKF origin (cm)
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int16_t posN; // North position of receiver rel to EKF origin (cm)
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int16_t posE; // East position of receiver rel to EKF origin (cm)
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int16_t posD; // Down position of receiver rel to EKF origin (cm)
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};
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// @LoggerMessage: XKF1
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// @Description: EKF3 estimator outputs
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: Roll: Estimated roll
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// @Field: Pitch: Estimated pitch
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// @Field: Yaw: Estimated yaw
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// @Field: VN: Estimated velocity (North component)
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// @Field: VE: Estimated velocity (East component)
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// @Field: VD: Estimated velocity (Down component)
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// @Field: dPD: Filtered derivative of vertical position (down)
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// @Field: PN: Estimated distance from origin (North component)
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// @Field: PE: Estimated distance from origin (East component)
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// @Field: PD: Estimated distance from origin (Down component)
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// @Field: GX: Estimated gyro bias, X axis
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// @Field: GY: Estimated gyro bias, Y axis
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// @Field: GZ: Estimated gyro bias, Z axis
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// @Field: OH: Height of origin above WGS-84
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struct PACKED log_XKF1 {
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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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int16_t roll;
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int16_t pitch;
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uint16_t yaw;
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float velN;
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float velE;
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float velD;
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float posD_dot;
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float posN;
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float posE;
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float posD;
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int16_t gyrX;
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int16_t gyrY;
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int16_t gyrZ;
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int32_t originHgt;
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};
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// @LoggerMessage: XKF2
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// @Description: EKF3 estimator secondary outputs
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: AX: Estimated accelerometer X bias
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// @Field: AY: Estimated accelerometer Y bias
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// @Field: AZ: Estimated accelerometer Z bias
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// @Field: VWN: Estimated wind velocity (North component)
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// @Field: VWE: Estimated wind velocity (East component)
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// @Field: MN: Magnetic field strength (North component)
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// @Field: ME: Magnetic field strength (East component)
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// @Field: MD: Magnetic field strength (Down component)
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// @Field: MX: Magnetic field strength (body X-axis)
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// @Field: MY: Magnetic field strength (body Y-axis)
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// @Field: MZ: Magnetic field strength (body Z-axis)
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// @Field: IDX: Innovation in vehicle drag acceleration (X-axis component)
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// @Field: IDY: Innovation in vehicle drag acceleration (Y-axis component)
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// @Field: IS: Innovation in vehicle sideslip
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struct PACKED log_XKF2 {
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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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int16_t accBiasX;
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int16_t accBiasY;
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int16_t accBiasZ;
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int16_t windN;
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int16_t windE;
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int16_t magN;
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int16_t magE;
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int16_t magD;
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int16_t magX;
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int16_t magY;
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int16_t magZ;
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float innovDragX;
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float innovDragY;
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float innovSideslip;
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};
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// @LoggerMessage: XKF3
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// @Description: EKF3 innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: IVN: Innovation in velocity (North component)
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// @Field: IVE: Innovation in velocity (East component)
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// @Field: IVD: Innovation in velocity (Down component)
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// @Field: IPN: Innovation in position (North component)
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// @Field: IPE: Innovation in position (East component)
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// @Field: IPD: Innovation in position (Down component)
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// @Field: IMX: Innovation in magnetic field strength (X-axis component)
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// @Field: IMY: Innovation in magnetic field strength (Y-axis component)
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// @Field: IMZ: Innovation in magnetic field strength (Z-axis component)
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// @Field: IYAW: Innovation in vehicle yaw
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// @Field: IVT: Innovation in true-airspeed
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// @Field: RErr: Accumulated relative error of this core with respect to active primary core
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// @Field: ErSc: A consolidated error score where higher numbers are less healthy
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struct PACKED log_XKF3 {
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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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int16_t innovVN;
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int16_t innovVE;
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int16_t innovVD;
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int16_t innovPN;
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int16_t innovPE;
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int16_t innovPD;
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int16_t innovMX;
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int16_t innovMY;
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int16_t innovMZ;
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int16_t innovYaw;
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int16_t innovVT;
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float rerr;
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float errorScore;
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};
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// @LoggerMessage: XKF4
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// @Description: EKF3 variances
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: SV: Square root of the velocity variance
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// @Field: SP: Square root of the position variance
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// @Field: SH: Square root of the height variance
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// @Field: SM: Magnetic field variance
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// @Field: SVT: Square root of the total airspeed variance
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// @Field: errRP: Filtered error in roll/pitch estimate
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// @Field: OFN: Most recent position recent magnitude (North component)
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// @Field: OFE: Most recent position recent magnitude (East component)
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// @Field: FS: Filter fault status
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// @Field: TS: Filter timeout status
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// @Field: SS: Filter solution status
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// @Field: GPS: Filter GPS status
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// @Field: PI: Primary core index
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struct PACKED log_XKF4 {
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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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int16_t sqrtvarV;
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int16_t sqrtvarP;
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int16_t sqrtvarH;
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int16_t sqrtvarM;
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int16_t sqrtvarVT;
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float tiltErr;
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int8_t offsetNorth;
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int8_t offsetEast;
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uint16_t faults;
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uint8_t timeouts;
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uint32_t solution;
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uint16_t gps;
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int8_t primary;
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};
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// @LoggerMessage: XKF5
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// @Description: EKF3 Sensor innovations (primary core) and general dumping ground
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: NI: Normalised flow variance
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// @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis)
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// @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis)
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// @Field: AFI: Optical flow LOS rate innovation from terrain offset estimator
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// @Field: HAGL: Height above ground level
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// @Field: offset: Estimated vertical position of the terrain relative to the nav filter zero datum
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// @Field: RI: Range finder innovations
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// @Field: rng: Measured range
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// @Field: Herr: Filter ground offset state error
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// @Field: eAng: Magnitude of angular error
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// @Field: eVel: Magnitude of velocity error
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// @Field: ePos: Magnitude of position error
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struct PACKED log_XKF5 {
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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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uint8_t normInnov;
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int16_t FIX;
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int16_t FIY;
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int16_t AFI;
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int16_t HAGL;
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int16_t offset;
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int16_t RI;
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uint16_t meaRng;
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uint16_t errHAGL;
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float angErr;
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float velErr;
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float posErr;
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};
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// @LoggerMessage: XKFD
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// @Description: EKF3 Body Frame Odometry errors
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: IX: Innovation in velocity (X-axis)
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// @Field: IY: Innovation in velocity (Y-axis)
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// @Field: IZ: Innovation in velocity (Z-axis)
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// @Field: IVX: Variance in velocity (X-axis)
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// @Field: IVY: Variance in velocity (Y-axis)
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// @Field: IVZ: Variance in velocity (Z-axis)
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struct PACKED log_XKFD {
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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 velInnovX;
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float velInnovY;
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float velInnovZ;
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float velInnovVarX;
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float velInnovVarY;
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float velInnovVarZ;
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};
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// @LoggerMessage: XKT
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// @Description: EKF3 timing information
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: Cnt: count of samples used to create this message
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// @Field: IMUMin: smallest IMU sample interval
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// @Field: IMUMax: largest IMU sample interval
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// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum)
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// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum)
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// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum)
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// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum)
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// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum)
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// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum)
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struct PACKED log_XKT {
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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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uint32_t timing_count;
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float dtIMUavg_min;
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float dtIMUavg_max;
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float dtEKFavg_min;
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float dtEKFavg_max;
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float delAngDT_min;
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float delAngDT_max;
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float delVelDT_min;
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float delVelDT_max;
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};
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// @LoggerMessage: XKFM
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// @Description: EKF3 diagnostic data for on-ground-and-not-moving check
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF core this message instance applies to
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// @Field: OGNM: True of on ground and not moving
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// @Field: GLR: Gyroscope length ratio
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// @Field: ALR: Accelerometer length ratio
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// @Field: GDR: Gyroscope rate of change ratio
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// @Field: ADR: Accelerometer rate of change ratio
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struct PACKED log_XKFM {
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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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uint8_t ongroundnotmoving;
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float gyro_length_ratio;
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float accel_length_ratio;
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float gyro_diff_ratio;
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float accel_diff_ratio;
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};
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// @LoggerMessage: XKQ
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// @Description: EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: Q1: Quaternion a term
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// @Field: Q2: Quaternion b term
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// @Field: Q3: Quaternion c term
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// @Field: Q4: Quaternion d term
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struct PACKED log_XKQ {
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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 q1;
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float q2;
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float q3;
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float q4;
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};
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// @LoggerMessage: XKFS
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// @Description: EKF3 sensor selection
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: MI: compass selection index
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// @Field: BI: barometer selection index
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// @Field: GI: GPS selection index
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// @Field: AI: airspeed selection index
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struct PACKED log_XKFS {
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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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uint8_t mag_index;
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uint8_t baro_index;
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uint8_t gps_index;
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uint8_t airspeed_index;
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};
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// @LoggerMessage: XKTV
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// @Description: EKF3 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: TVS: Tilt Error Variance from symbolic equations (rad^2)
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// @Field: TVD: Tilt Error Variance from difference method (rad^2)
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struct PACKED log_XKTV {
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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 tvs;
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float tvd;
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};
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// @LoggerMessage: XKV1
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// @Description: EKF3 State variances (primary core)
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: V00: Variance for state 0
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// @Field: V01: Variance for state 1
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// @Field: V02: Variance for state 2
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// @Field: V03: Variance for state 3
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// @Field: V04: Variance for state 4
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// @Field: V05: Variance for state 5
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// @Field: V06: Variance for state 6
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// @Field: V07: Variance for state 7
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// @Field: V08: Variance for state 8
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// @Field: V09: Variance for state 9
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// @Field: V10: Variance for state 10
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// @Field: V11: Variance for state 11
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// @LoggerMessage: XKV2
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// @Description: more EKF3 State Variances (primary core)
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: V12: Variance for state 12
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// @Field: V13: Variance for state 13
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// @Field: V14: Variance for state 14
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// @Field: V15: Variance for state 15
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// @Field: V16: Variance for state 16
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// @Field: V17: Variance for state 17
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// @Field: V18: Variance for state 18
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// @Field: V19: Variance for state 19
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// @Field: V20: Variance for state 20
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// @Field: V21: Variance for state 21
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// @Field: V22: Variance for state 22
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// @Field: V23: Variance for state 23
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struct PACKED log_XKV {
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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 v00;
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float v01;
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float v02;
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float v03;
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float v04;
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float v05;
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float v06;
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float v07;
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float v08;
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float v09;
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float v10;
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float v11;
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};
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// @LoggerMessage: XKY0
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// @Description: EKF3 Yaw Estimator States
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 core this data is for
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// @Field: YC: GSF yaw estimate (rad)
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad)
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad)
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad)
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad)
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad)
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad)
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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_XKY0 {
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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
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// @Description: EKF3 Yaw Estimator Innovations
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// @Field: TimeUS: Time since system startup
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// @Field: C: EKF3 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_XKY1 {
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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 LOG_STRUCTURE_FROM_NAVEKF3 \
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{ LOG_XKF0_MSG, sizeof(log_XKF0), \
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"XKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \
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{ LOG_XKF1_MSG, sizeof(log_XKF1), \
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"XKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
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{ LOG_XKF2_MSG, sizeof(log_XKF2), \
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"XKF2","QBccccchhhhhhfff","TimeUS,C,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,IDX,IDY,IS", "s#---nnGGGGGGoor", "F----BBCCCCCC000" }, \
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{ LOG_XKF3_MSG, sizeof(log_XKF3), \
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"XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
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{ LOG_XKF4_MSG, sizeof(log_XKF4), \
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"XKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
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{ LOG_XKF5_MSG, sizeof(log_XKF5), \
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"XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
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{ LOG_XKFD_MSG, sizeof(log_XKFD), \
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"XKFD","QBffffff","TimeUS,C,IX,IY,IZ,IVX,IVY,IVZ", "s#------", "F-------" }, \
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{ LOG_XKFM_MSG, sizeof(log_XKFM), \
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"XKFM", "QBBffff", "TimeUS,C,OGNM,GLR,ALR,GDR,ADR", "s------", "F------"}, \
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{ LOG_XKFS_MSG, sizeof(log_XKFS), \
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"XKFS","QBBBBB","TimeUS,C,MI,BI,GI,AI", "s#----", "F-----" }, \
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{ LOG_XKQ_MSG, sizeof(log_XKQ), "XKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \
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{ LOG_XKT_MSG, sizeof(log_XKT), \
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"XKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \
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{ LOG_XKTV_MSG, sizeof(log_XKTV), \
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"XKTV", "QBff", "TimeUS,C,TVS,TVD", "s#rr", "F-00"}, \
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{ LOG_XKY0_MSG, sizeof(log_XKY0), \
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"XKY0", "QBffffffffffff", "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4", "s#rrrrrrr-----", "F-000000000000"}, \
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{ LOG_XKY1_MSG, sizeof(log_XKY1), \
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"XKY1", "QBffffffffff", "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4", "s#nnnnnnnnnn", "F-0000000000"}, \
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{ LOG_XKV1_MSG, sizeof(log_XKV), \
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"XKV1","QBffffffffffff","TimeUS,C,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s#------------", "F-------------" }, \
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{ LOG_XKV2_MSG, sizeof(log_XKV), \
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"XKV2","QBffffffffffff","TimeUS,C,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s#------------", "F-------------" },
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