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ardupilot/libraries/AP_Logger/LogStructure.h

1710 lines
49 KiB
C
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#pragma once
// if you add any new types, units or multipliers, please update README.md
/*
Format characters in the format string for binary log messages
a : int16_t[32]
b : int8_t
B : uint8_t
h : int16_t
H : uint16_t
i : int32_t
I : uint32_t
f : float
d : double
n : char[4]
N : char[16]
Z : char[64]
c : int16_t * 100
C : uint16_t * 100
e : int32_t * 100
E : uint32_t * 100
L : int32_t latitude/longitude
M : uint8_t flight mode
q : int64_t
Q : uint64_t
*/
struct UnitStructure {
const char ID;
const char *unit;
};
struct MultiplierStructure {
const char ID;
const double multiplier;
};
// all units here should be base units
// This does mean battery capacity is here as "amp*second"
// Please keep the names consistent with Tools/autotest/param_metadata/param.py:33
const struct UnitStructure log_Units[] = {
{ '-', "" }, // no units e.g. Pi, or a string
{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
{ 'A', "A" }, // Ampere
{ 'd', "deg" }, // of the angular variety, -180 to 180
{ 'b', "B" }, // bytes
{ 'k', "deg/s" }, // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
{ 'D', "deglatitude" }, // degrees of latitude
{ 'e', "deg/s/s" }, // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly than radians
{ 'E', "rad/s" }, // radians per second
{ 'G', "Gauss" }, // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
{ 'h', "degheading" }, // 0.? to 359.?
{ 'i', "A.s" }, // Ampere second
{ 'J', "W.s" }, // Joule (Watt second)
// { 'l', "l" }, // litres
{ 'L', "rad/s/s" }, // radians per second per second
{ 'm', "m" }, // metres
{ 'n', "m/s" }, // metres per second
// { 'N', "N" }, // Newton
{ 'o', "m/s/s" }, // metres per second per second
{ 'O', "degC" }, // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users
{ '%', "%" }, // percent
{ 'S', "satellites" }, // number of satellites
{ 's', "s" }, // seconds
{ 'q', "rpm" }, // rounds per minute. Not SI, but sometimes more intuitive than Hertz
{ 'r', "rad" }, // radians
{ 'U', "deglongitude" }, // degrees of longitude
{ 'u', "ppm" }, // pulses per minute
{ 'v', "V" }, // Volt
{ 'P', "Pa" }, // Pascal
{ 'w', "Ohm" }, // Ohm
// { 'W', "Watt" }, // Watt
{ 'Y', "us" }, // pulse width modulation in microseconds
{ 'z', "Hz" }, // Hertz
{ '#', "instance" } // (e.g.)Sensor instance number
};
// this multiplier information applies to the raw value present in the
// log. Any adjustment implied by the format field (e.g. the "centi"
// in "centidegrees" is *IGNORED* for the purposes of scaling.
// Essentially "format" simply tells you the C-type, and format-type h
// (int16_t) is equivalent to format-type c (int16_t*100)
// tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name
const struct MultiplierStructure log_Multipliers[] = {
{ '-', 0 }, // no multiplier e.g. a string
{ '?', 1 }, // multipliers which haven't been worked out yet....
// <leave a gap here, just in case....>
{ '2', 1e2 },
{ '1', 1e1 },
{ '0', 1e0 },
{ 'A', 1e-1 },
{ 'B', 1e-2 },
{ 'C', 1e-3 },
{ 'D', 1e-4 },
{ 'E', 1e-5 },
{ 'F', 1e-6 },
{ 'G', 1e-7 },
// <leave a gap here, just in case....>
{ '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s)
{ '/', 3600 }, // (ampere*second => ampere*hour)
};
/*
unfortunately these need to be macros because of a limitation of
named member structure initialisation in g++
*/
#define LOG_PACKET_HEADER uint8_t head1, head2, msgid;
#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
#define LOG_PACKET_HEADER_LEN 3 // bytes required for LOG_PACKET_HEADER
// once the logging code is all converted we will remove these from
// this header
#define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149
// structure used to define logging format
struct LogStructure {
uint8_t msg_type;
uint8_t msg_len;
const char *name;
const char *format;
const char *labels;
const char *units;
const char *multipliers;
};
// maximum lengths of fields in LogStructure, including trailing nulls
static const uint8_t LS_NAME_SIZE = 5;
static const uint8_t LS_FORMAT_SIZE = 17;
static const uint8_t LS_LABELS_SIZE = 65;
static const uint8_t LS_UNITS_SIZE = 17;
static const uint8_t LS_MULTIPLIERS_SIZE = 17;
/*
log structures common to all vehicle types
*/
struct PACKED log_Format {
LOG_PACKET_HEADER;
uint8_t type;
uint8_t length;
char name[4];
char format[16];
char labels[64];
};
struct PACKED log_Unit {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
char unit[64]; // you know, this might be overkill...
};
struct PACKED log_Format_Multiplier {
LOG_PACKET_HEADER;
uint64_t time_us;
char type;
double multiplier;
};
struct PACKED log_Format_Units {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t format_type;
char units[16];
char multipliers[16];
};
struct PACKED log_Parameter {
LOG_PACKET_HEADER;
uint64_t time_us;
char name[16];
float value;
};
struct PACKED log_DSF {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t dropped;
uint16_t blocks;
uint32_t bytes;
uint32_t buf_space_min;
uint32_t buf_space_max;
uint32_t buf_space_avg;
};
struct PACKED log_Event {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t id;
};
struct PACKED log_Error {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t sub_system;
uint8_t error_code;
};
struct PACKED log_GPS {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status;
uint32_t gps_week_ms;
uint16_t gps_week;
uint8_t num_sats;
uint16_t hdop;
int32_t latitude;
int32_t longitude;
int32_t altitude;
float ground_speed;
float ground_course;
float vel_z;
float yaw;
uint8_t used;
};
struct PACKED log_GPA {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t vdop;
uint16_t hacc;
uint16_t vacc;
uint16_t sacc;
uint8_t have_vv;
uint32_t sample_ms;
uint16_t delta_ms;
};
struct PACKED log_Message {
LOG_PACKET_HEADER;
uint64_t time_us;
char msg[64];
};
struct PACKED log_IMU {
LOG_PACKET_HEADER;
uint64_t time_us;
float gyro_x, gyro_y, gyro_z;
float accel_x, accel_y, accel_z;
uint32_t gyro_error, accel_error;
float temperature;
uint8_t gyro_health, accel_health;
uint16_t gyro_rate, accel_rate;
};
struct PACKED log_IMUDT {
LOG_PACKET_HEADER;
uint64_t time_us;
float delta_time, delta_vel_dt, delta_ang_dt;
float delta_ang_x, delta_ang_y, delta_ang_z;
float delta_vel_x, delta_vel_y, delta_vel_z;
};
struct PACKED log_ISBH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t seqno;
uint8_t sensor_type; // e.g. GYRO or ACCEL
uint8_t instance;
uint16_t multiplier;
uint16_t sample_count;
uint64_t sample_us;
float sample_rate_hz;
};
static_assert(sizeof(log_ISBH) < 256, "log_ISBH is over-size");
struct PACKED log_ISBD {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t isb_seqno;
uint16_t seqno; // seqno within isb_seqno
int16_t x[32];
int16_t y[32];
int16_t z[32];
};
static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");
struct PACKED log_Vibe {
LOG_PACKET_HEADER;
uint64_t time_us;
float vibe_x, vibe_y, vibe_z;
uint32_t clipping_0, clipping_1, clipping_2;
};
struct PACKED log_Gimbal1 {
LOG_PACKET_HEADER;
uint32_t time_ms;
float delta_time;
float delta_angles_x;
float delta_angles_y;
float delta_angles_z;
float delta_velocity_x;
float delta_velocity_y;
float delta_velocity_z;
float joint_angles_x;
float joint_angles_y;
float joint_angles_z;
};
struct PACKED log_Gimbal2 {
LOG_PACKET_HEADER;
uint32_t time_ms;
uint8_t est_sta;
float est_x;
float est_y;
float est_z;
float rate_x;
float rate_y;
float rate_z;
float target_x;
float target_y;
float target_z;
};
struct PACKED log_Gimbal3 {
LOG_PACKET_HEADER;
uint32_t time_ms;
int16_t rl_torque_cmd;
int16_t el_torque_cmd;
int16_t az_torque_cmd;
};
struct PACKED log_RCIN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
uint16_t chan9;
uint16_t chan10;
uint16_t chan11;
uint16_t chan12;
uint16_t chan13;
uint16_t chan14;
};
struct PACKED log_RCOUT {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t chan1;
uint16_t chan2;
uint16_t chan3;
uint16_t chan4;
uint16_t chan5;
uint16_t chan6;
uint16_t chan7;
uint16_t chan8;
uint16_t chan9;
uint16_t chan10;
uint16_t chan11;
uint16_t chan12;
uint16_t chan13;
uint16_t chan14;
};
struct PACKED log_MAV {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t chan;
uint16_t packet_tx_count;
uint16_t packet_rx_success_count;
uint16_t packet_rx_drop_count;
};
struct PACKED log_RSSI {
LOG_PACKET_HEADER;
uint64_t time_us;
float RXRSSI;
};
struct PACKED log_BARO {
LOG_PACKET_HEADER;
uint64_t time_us;
float altitude;
float pressure;
int16_t temperature;
float climbrate;
uint32_t sample_time_ms;
float drift_offset;
float ground_temp;
};
struct PACKED log_Optflow {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t surface_quality;
float flow_x;
float flow_y;
float body_x;
float body_y;
};
struct PACKED log_AHRS {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t roll;
int16_t pitch;
uint16_t yaw;
float alt;
int32_t lat;
int32_t lng;
float q1, q2, q3, q4;
};
struct PACKED log_POS {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t lat;
int32_t lng;
float alt;
float rel_home_alt;
float rel_origin_alt;
};
struct PACKED log_POWR {
LOG_PACKET_HEADER;
uint64_t time_us;
float Vcc;
float Vservo;
uint16_t flags;
uint8_t safety_and_arm;
};
struct PACKED log_EKF1 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t roll;
int16_t pitch;
uint16_t yaw;
float velN;
float velE;
float velD;
float posD_dot;
float posN;
float posE;
float posD;
int16_t gyrX;
int16_t gyrY;
int16_t gyrZ;
int32_t originHgt;
};
struct PACKED log_EKF2 {
LOG_PACKET_HEADER;
uint64_t time_us;
int8_t Ratio;
int8_t AZ1bias;
int8_t AZ2bias;
int16_t windN;
int16_t windE;
int16_t magN;
int16_t magE;
int16_t magD;
int16_t magX;
int16_t magY;
int16_t magZ;
};
struct PACKED log_NKF2 {
LOG_PACKET_HEADER;
uint64_t time_us;
int8_t AZbias;
int16_t scaleX;
int16_t scaleY;
int16_t scaleZ;
int16_t windN;
int16_t windE;
int16_t magN;
int16_t magE;
int16_t magD;
int16_t magX;
int16_t magY;
int16_t magZ;
uint8_t index;
};
struct PACKED log_NKF2a {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t accBiasX;
int16_t accBiasY;
int16_t accBiasZ;
int16_t windN;
int16_t windE;
int16_t magN;
int16_t magE;
int16_t magD;
int16_t magX;
int16_t magY;
int16_t magZ;
uint8_t index;
};
struct PACKED log_EKF3 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t innovVN;
int16_t innovVE;
int16_t innovVD;
int16_t innovPN;
int16_t innovPE;
int16_t innovPD;
int16_t innovMX;
int16_t innovMY;
int16_t innovMZ;
int16_t innovVT;
};
struct PACKED log_NKF3 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t innovVN;
int16_t innovVE;
int16_t innovVD;
int16_t innovPN;
int16_t innovPE;
int16_t innovPD;
int16_t innovMX;
int16_t innovMY;
int16_t innovMZ;
int16_t innovYaw;
int16_t innovVT;
};
struct PACKED log_EKF4 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t sqrtvarV;
int16_t sqrtvarP;
int16_t sqrtvarH;
int16_t sqrtvarMX;
int16_t sqrtvarMY;
int16_t sqrtvarMZ;
int16_t sqrtvarVT;
int8_t offsetNorth;
int8_t offsetEast;
uint16_t faults;
uint8_t timeouts;
uint16_t solution;
uint16_t gps;
};
struct PACKED log_NKF4 {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t sqrtvarV;
int16_t sqrtvarP;
int16_t sqrtvarH;
int16_t sqrtvarM;
int16_t sqrtvarVT;
float tiltErr;
int8_t offsetNorth;
int8_t offsetEast;
uint16_t faults;
uint8_t timeouts;
uint16_t solution;
uint16_t gps;
int8_t primary;
};
struct PACKED log_EKF5 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t normInnov;
int16_t FIX;
int16_t FIY;
int16_t AFI;
int16_t HAGL;
int16_t offset;
int16_t RI;
uint16_t meaRng;
uint16_t errHAGL;
};
struct PACKED log_NKF5 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t normInnov;
int16_t FIX;
int16_t FIY;
int16_t AFI;
int16_t HAGL;
int16_t offset;
int16_t RI;
uint16_t meaRng;
uint16_t errHAGL;
float angErr;
float velErr;
float posErr;
};
struct PACKED log_Quaternion {
LOG_PACKET_HEADER;
uint64_t time_us;
float q1;
float q2;
float q3;
float q4;
};
struct PACKED log_RngBcnDebug {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t ID; // beacon identifier
int16_t rng; // beacon range (cm)
int16_t innov; // beacon range innovation (cm)
uint16_t sqrtInnovVar; // sqrt of beacon range innovation variance (cm)
uint16_t testRatio; // beacon range innovation consistency test ratio *100
int16_t beaconPosN; // beacon north position (cm)
int16_t beaconPosE; // beacon east position (cm)
int16_t beaconPosD; // beacon down position (cm)
int16_t offsetHigh; // high estimate of vertical position offset of beacons rel to EKF origin (cm)
int16_t offsetLow; // low estimate of vertical position offset of beacons rel to EKF origin (cm)
int16_t posN; // North position of receiver rel to EKF origin (cm)
int16_t posE; // East position of receiver rel to EKF origin (cm)
int16_t posD; // Down position of receiver rel to EKF origin (cm)
};
// visual odometry sensor data
struct PACKED log_VisualOdom {
LOG_PACKET_HEADER;
uint64_t time_us;
float time_delta;
float angle_delta_x;
float angle_delta_y;
float angle_delta_z;
float position_delta_x;
float position_delta_y;
float position_delta_z;
float confidence;
};
struct PACKED log_ekfBodyOdomDebug {
LOG_PACKET_HEADER;
uint64_t time_us;
float velInnovX;
float velInnovY;
float velInnovZ;
float velInnovVarX;
float velInnovVarY;
float velInnovVarZ;
};
struct PACKED log_ekfStateVar {
LOG_PACKET_HEADER;
uint64_t time_us;
float v00;
float v01;
float v02;
float v03;
float v04;
float v05;
float v06;
float v07;
float v08;
float v09;
float v10;
float v11;
};
struct PACKED log_Cmd {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t command_total;
uint16_t sequence;
uint16_t command;
float param1;
float param2;
float param3;
float param4;
int32_t latitude;
int32_t longitude;
float altitude;
uint8_t frame;
};
struct PACKED log_Radio {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t rssi;
uint8_t remrssi;
uint8_t txbuf;
uint8_t noise;
uint8_t remnoise;
uint16_t rxerrors;
uint16_t fixed;
};
struct PACKED log_Camera {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t gps_time;
uint16_t gps_week;
int32_t latitude;
int32_t longitude;
int32_t altitude;
int32_t altitude_rel;
int32_t altitude_gps;
int16_t roll;
int16_t pitch;
uint16_t yaw;
};
struct PACKED log_Attitude {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t control_roll;
int16_t roll;
int16_t control_pitch;
int16_t pitch;
uint16_t control_yaw;
uint16_t yaw;
uint16_t error_rp;
uint16_t error_yaw;
};
struct PACKED log_PID {
LOG_PACKET_HEADER;
uint64_t time_us;
float desired;
float actual;
float P;
float I;
float D;
float FF;
};
struct PACKED log_Current {
LOG_PACKET_HEADER;
uint64_t time_us;
float voltage;
float voltage_resting;
float current_amps;
float current_total;
float consumed_wh;
int16_t temperature; // degrees C * 100
float resistance;
};
struct PACKED log_WheelEncoder {
LOG_PACKET_HEADER;
uint64_t time_us;
float distance_0;
uint8_t quality_0;
float distance_1;
uint8_t quality_1;
};
struct PACKED log_ADSB {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t ICAO_address;
int32_t lat;
int32_t lng;
int32_t alt;
uint16_t heading;
uint16_t hor_velocity;
int16_t ver_velocity;
uint16_t squawk;
};
struct PACKED log_Current_Cells {
LOG_PACKET_HEADER;
uint64_t time_us;
float voltage;
uint16_t cell_voltages[10];
};
struct PACKED log_Compass {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t mag_x;
int16_t mag_y;
int16_t mag_z;
int16_t offset_x;
int16_t offset_y;
int16_t offset_z;
int16_t motor_offset_x;
int16_t motor_offset_y;
int16_t motor_offset_z;
uint8_t health;
uint32_t SUS;
};
struct PACKED log_Mode {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t mode;
uint8_t mode_num;
uint8_t mode_reason;
};
/*
rangefinder - support for 4 sensors
*/
struct PACKED log_RFND {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint16_t dist;
uint8_t status;
uint8_t orient;
};
/*
terrain log structure
*/
struct PACKED log_TERRAIN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t status;
int32_t lat;
int32_t lng;
uint16_t spacing;
float terrain_height;
float current_height;
uint16_t pending;
uint16_t loaded;
};
/*
UBlox logging
*/
struct PACKED log_Ubx1 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint16_t noisePerMS;
uint8_t jamInd;
uint8_t aPower;
uint16_t agcCnt;
uint32_t config;
};
struct PACKED log_Ubx2 {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
int8_t ofsI;
uint8_t magI;
int8_t ofsQ;
uint8_t magQ;
};
struct PACKED log_GPS_RAW {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t iTOW;
int16_t week;
uint8_t numSV;
uint8_t sv;
double cpMes;
double prMes;
float doMes;
int8_t mesQI;
int8_t cno;
uint8_t lli;
};
struct PACKED log_GPS_RAWH {
LOG_PACKET_HEADER;
uint64_t time_us;
double rcvTow;
uint16_t week;
int8_t leapS;
uint8_t numMeas;
uint8_t recStat;
};
struct PACKED log_GPS_RAWS {
LOG_PACKET_HEADER;
uint64_t time_us;
double prMes;
double cpMes;
float doMes;
uint8_t gnssId;
uint8_t svId;
uint8_t freqId;
uint16_t locktime;
uint8_t cno;
uint8_t prStdev;
uint8_t cpStdev;
uint8_t doStdev;
uint8_t trkStat;
};
struct PACKED log_GPS_SBF_EVENT {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t TOW;
uint16_t WNc;
uint8_t Mode;
uint8_t Error;
double Latitude;
double Longitude;
double Height;
float Undulation;
float Vn;
float Ve;
float Vu;
float COG;
};
struct PACKED log_Esc {
LOG_PACKET_HEADER;
uint64_t time_us;
int32_t rpm;
uint16_t voltage;
uint16_t current;
int16_t temperature;
uint16_t current_tot;
};
struct PACKED log_AIRSPEED {
LOG_PACKET_HEADER;
uint64_t time_us;
float airspeed;
float diffpressure;
int16_t temperature;
float rawpressure;
float offset;
bool use;
bool healthy;
float health_prob;
uint8_t primary;
};
struct PACKED log_ACCEL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint64_t sample_us;
float AccX, AccY, AccZ;
};
struct PACKED log_GYRO {
LOG_PACKET_HEADER;
uint64_t time_us;
uint64_t sample_us;
float GyrX, GyrY, GyrZ;
};
struct PACKED log_MAV_Stats {
LOG_PACKET_HEADER;
uint32_t timestamp;
uint32_t seqno;
uint32_t dropped;
uint32_t retries;
uint32_t resends;
uint8_t state_free_avg;
uint8_t state_free_min;
uint8_t state_free_max;
uint8_t state_pending_avg;
uint8_t state_pending_min;
uint8_t state_pending_max;
uint8_t state_sent_avg;
uint8_t state_sent_min;
uint8_t state_sent_max;
// uint8_t state_retry_avg;
// uint8_t state_retry_min;
// uint8_t state_retry_max;
};
struct PACKED log_ORGN {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t origin_type;
int32_t latitude;
int32_t longitude;
int32_t altitude;
};
struct PACKED log_RPM {
LOG_PACKET_HEADER;
uint64_t time_us;
float rpm1;
float rpm2;
};
struct PACKED log_Rate {
LOG_PACKET_HEADER;
uint64_t time_us;
float control_roll;
float roll;
float roll_out;
float control_pitch;
float pitch;
float pitch_out;
float control_yaw;
float yaw;
float yaw_out;
float control_accel;
float accel;
float accel_out;
};
struct PACKED log_SbpLLH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t tow;
int32_t lat;
int32_t lon;
int32_t alt;
uint8_t n_sats;
uint8_t flags;
};
struct PACKED log_SbpHealth {
LOG_PACKET_HEADER;
uint64_t time_us;
uint32_t crc_error_counter;
uint32_t last_injected_data_ms;
uint32_t last_iar_num_hypotheses;
};
struct PACKED log_SbpRAWH {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[48];
};
struct PACKED log_SbpRAWM {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t msg_type;
uint16_t sender_id;
uint8_t index;
uint8_t pages;
uint8_t msg_len;
uint8_t res;
uint8_t data[104];
};
struct PACKED log_SbpEvent {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t wn;
uint32_t tow;
int32_t ns_residual;
uint8_t level;
uint8_t quality;
};
struct PACKED log_Rally {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t total;
uint8_t sequence;
int32_t latitude;
int32_t longitude;
int16_t altitude;
};
struct PACKED log_AOA_SSA {
LOG_PACKET_HEADER;
uint64_t time_us;
float AOA;
float SSA;
};
struct PACKED log_Beacon {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t health;
uint8_t count;
float dist0;
float dist1;
float dist2;
float dist3;
float posx;
float posy;
float posz;
};
// proximity sensor logging
struct PACKED log_Proximity {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t health;
float dist0;
float dist45;
float dist90;
float dist135;
float dist180;
float dist225;
float dist270;
float dist315;
float distup;
float closest_angle;
float closest_dist;
};
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t num_long_running;
uint16_t num_loops;
uint32_t max_time;
uint32_t mem_avail;
uint16_t load;
uint32_t internal_errors;
uint32_t internal_error_count;
uint32_t spi_count;
uint32_t i2c_count;
};
struct PACKED log_SRTL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t active;
uint16_t num_points;
uint16_t max_points;
uint8_t action;
float N;
float E;
float D;
};
struct PACKED log_OA {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t algorithm;
int32_t final_lat;
int32_t final_lng;
int32_t oa_lat;
int32_t oa_lng;
};
struct PACKED log_DSTL {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t stage;
float target_heading;
int32_t target_lat;
int32_t target_lng;
int32_t target_alt;
int16_t crosstrack_error;
int16_t travel_distance;
float l1_i;
int32_t loiter_sum_cd;
float desired;
float P;
float I;
float D;
};
struct PACKED log_Arm_Disarm {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t arm_state;
uint16_t arm_checks;
};
// FMT messages define all message formats other than FMT
// UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
#define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
#define ACC_FMT "QQfff"
#define ACC_UNITS "ssnnn"
#define ACC_MULTS "FF000"
// see "struct sensor" in AP_Baro.h and "Write_Baro":
#define BARO_LABELS "TimeUS,Alt,Press,Temp,CRt,SMS,Offset,GndTemp"
#define BARO_FMT "QffcfIff"
#define BARO_UNITS "smPOnsmO"
#define BARO_MULTS "F00B0C?0"
#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot"
#define ESC_FMT "QeCCcH"
#define ESC_UNITS "sqvAO-"
#define ESC_MULTS "FBBBB-"
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCBIH"
#define GPA_UNITS "smmmn-ss"
#define GPA_MULTS "FBBBB-CF"
// see "struct GPS_State" and "Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U"
#define GPS_FMT "QBIHBcLLeffffB"
#define GPS_UNITS "s---SmDUmnhnh-"
#define GPS_MULTS "F---0BGGB000--"
#define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ"
#define GYR_FMT "QQfff"
#define GYR_UNITS "ssEEE"
#define GYR_MULTS "FF000"
#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
#define IMT_FMT "Qfffffffff"
#define IMT_UNITS "ssssrrrnnn"
#define IMT_MULTS "FF00000000"
#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT "QHBBHHQf"
#define ISBH_UNITS "s-----sz"
#define ISBH_MULTS "F-----F-"
#define ISBD_LABELS "TimeUS,N,seqno,x,y,z"
#define ISBD_FMT "QHHaaa"
#define ISBD_UNITS "s--ooo"
#define ISBD_MULTS "F--???"
#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz"
#define IMU_FMT "QffffffIIfBBHH"
#define IMU_UNITS "sEEEooo--O--zz"
#define IMU_MULTS "F000000-----00"
#define MAG_LABELS "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
#define MAG_FMT "QhhhhhhhhhBI"
#define MAG_UNITS "sGGGGGGGGG-s"
#define MAG_MULTS "FCCCCCCCCC-F"
#define PID_LABELS "TimeUS,Des,Act,P,I,D,FF"
#define PID_FMT "Qffffff"
#define PID_UNITS "s------"
#define PID_MULTS "F------"
#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT "Qffff"
#define QUAT_UNITS "s????"
#define QUAT_MULTS "F????"
#define CURR_LABELS "TimeUS,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res"
#define CURR_FMT "Qfffffcf"
#define CURR_UNITS "svvA?JOw"
#define CURR_MULTS "F000?/?0"
#define CURR_CELL_LABELS "TimeUS,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10"
#define CURR_CELL_FMT "QfHHHHHHHHHH"
#define CURR_CELL_UNITS "svvvvvvvvvvv"
#define CURR_CELL_MULTS "F00000000000"
#define ARSP_LABELS "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U,Health,Hfp,Pri"
#define ARSP_FMT "QffcffBBfB"
#define ARSP_UNITS "snPOPP----"
#define ARSP_MULTS "F00B00----"
// messages for all boards
#define LOG_BASE_STRUCTURES \
{ LOG_FORMAT_MSG, sizeof(log_Format), \
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns", "-b---", "-----" }, \
{ LOG_UNIT_MSG, sizeof(log_Unit), \
"UNIT", "QbZ", "TimeUS,Id,Label", "s--","F--" }, \
{ LOG_FORMAT_UNITS_MSG, sizeof(log_Format_Units), \
"FMTU", "QBNN", "TimeUS,FmtType,UnitIds,MultIds","s---", "F---" }, \
{ LOG_MULT_MSG, sizeof(log_Format_Multiplier), \
"MULT", "Qbd", "TimeUS,Id,Mult", "s--","F--" }, \
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPSB_MSG, sizeof(log_GPS), \
"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \
"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPAB_MSG, sizeof(log_GPA), \
"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
"MSG", "QZ", "TimeUS,Message", "s-", "F-"}, \
{ LOG_RCIN_MSG, sizeof(log_RCIN), \
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
"RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \
{ LOG_BARO_MSG, sizeof(log_BARO), \
"BARO", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_POWR_MSG, sizeof(log_POWR), \
"POWR","QffHB","TimeUS,Vcc,VServo,Flags,Safety", "svv--", "F00--" }, \
{ LOG_CMD_MSG, sizeof(log_Cmd), \
"CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
{ LOG_RADIO_MSG, sizeof(log_Radio), \
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
{ LOG_CAMERA_MSG, sizeof(log_Camera), \
"CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_TRIGGER_MSG, sizeof(log_Camera), \
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), "ARSP", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
{ LOG_ASP2_MSG, sizeof(log_AIRSPEED), "ASP2", ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
{ LOG_CURRENT_MSG, sizeof(log_Current), \
"BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT2_MSG, sizeof(log_Current), \
"BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT3_MSG, sizeof(log_Current), \
"BAT3", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT4_MSG, sizeof(log_Current), \
"BAT4", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT5_MSG, sizeof(log_Current), \
"BAT5", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT6_MSG, sizeof(log_Current), \
"BAT6", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT7_MSG, sizeof(log_Current), \
"BAT7", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT8_MSG, sizeof(log_Current), \
"BAT8", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT9_MSG, sizeof(log_Current), \
"BAT9", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
{ LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
"BCL", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS2_MSG, sizeof(log_Current_Cells), \
"BCL2", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS3_MSG, sizeof(log_Current_Cells), \
"BCL3", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS4_MSG, sizeof(log_Current_Cells), \
"BCL4", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS5_MSG, sizeof(log_Current_Cells), \
"BCL5", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS6_MSG, sizeof(log_Current_Cells), \
"BCL6", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS7_MSG, sizeof(log_Current_Cells), \
"BCL7", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS8_MSG, sizeof(log_Current_Cells), \
"BCL8", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_CURRENT_CELLS9_MSG, sizeof(log_Current_Cells), \
"BCL9", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
"ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
{ LOG_COMPASS_MSG, sizeof(log_Compass), \
"MAG", MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_MODE_MSG, sizeof(log_Mode), \
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
{ LOG_RFND_MSG, sizeof(log_RFND), \
"RFND", "QBCBB", "TimeUS,Instance,Dist,Stat,Orient", "s#m--", "F-B--" }, \
{ LOG_MAV_STATS, sizeof(log_MAV_Stats), \
"DMS", "IIIIIBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "C-------------" }, \
{ LOG_BEACON_MSG, sizeof(log_Beacon), \
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--BBBBBBB" }, \
{ LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance), \
"PM", "QHHIIHIIII", "TimeUS,NLon,NLoop,MaxT,Mem,Load,IntErr,IntErrCnt,SPICnt,I2CCnt", "s---b%----", "F---0A----" }, \
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
{ LOG_OA_MSG, sizeof(log_OA), \
"OA","QBLLLL","TimeUS,Algo,DLat,DLng,OALat,OALng", "s-----", "F-GGGG" }
// messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \
{ LOG_IMU2_MSG, sizeof(log_IMU), \
"IMU2", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_IMU3_MSG, sizeof(log_IMU), \
"IMU3", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
{ LOG_AHR2_MSG, sizeof(log_AHRS), \
"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBB0GG????" }, \
{ LOG_POS_MSG, sizeof(log_POS), \
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" }, \
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
{ LOG_NKF1_MSG, sizeof(log_EKF1), \
"NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_NKF2_MSG, sizeof(log_NKF2), \
"NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF3_MSG, sizeof(log_NKF3), \
"NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_NKF4_MSG, sizeof(log_NKF4), \
"NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_NKF5_MSG, sizeof(log_NKF5), \
"NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_NKF6_MSG, sizeof(log_EKF1), \
"NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_NKF7_MSG, sizeof(log_NKF2), \
"NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
{ LOG_NKF8_MSG, sizeof(log_NKF3), \
"NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_NKF9_MSG, sizeof(log_NKF4), \
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
"NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
"XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
{ LOG_XKF2_MSG, sizeof(log_NKF2a), \
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
{ LOG_XKF5_MSG, sizeof(log_NKF5), \
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ LOG_XKF6_MSG, sizeof(log_EKF1), \
"XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
{ LOG_XKF7_MSG, sizeof(log_NKF2a), \
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
{ LOG_XKF8_MSG, sizeof(log_NKF3), \
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
{ LOG_XKF9_MSG, sizeof(log_NKF4), \
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
{ LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
"XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
{ LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
{ LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
"XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
{ LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
"XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s------------", "F------------" }, \
{ LOG_XKV2_MSG, sizeof(log_ekfStateVar), \
"XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s------------", "F------------" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
"UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS2_UBX1_MSG, sizeof(log_Ubx1), \
"UBY1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------" }, \
{ LOG_GPS2_UBX2_MSG, sizeof(log_Ubx2), \
"UBY2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
{ LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
"GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" }, \
{ LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
"GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
{ LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
"GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
{ LOG_GPS_SBF_EVENT_MSG, sizeof(log_GPS_SBF_EVENT), \
"SBFE", "QIHBBdddfffff", "TimeUS,TOW,WN,Mode,Err,Lat,Lng,Height,Undul,Vn,Ve,Vu,COG", "s----DUm-nnnh", "F----000-0000" }, \
{ LOG_ESC1_MSG, sizeof(log_Esc), \
"ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC2_MSG, sizeof(log_Esc), \
"ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC3_MSG, sizeof(log_Esc), \
"ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC4_MSG, sizeof(log_Esc), \
"ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC5_MSG, sizeof(log_Esc), \
"ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC6_MSG, sizeof(log_Esc), \
"ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC7_MSG, sizeof(log_Esc), \
"ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_ESC8_MSG, sizeof(log_Esc), \
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
"MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
"MAG3",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
"ACC1", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
"ACC2", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
"ACC3", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
"GYR1", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
"GYR2", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
"GYR3", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
{ LOG_PIDR_MSG, sizeof(log_PID), \
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDP_MSG, sizeof(log_PID), \
"PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDY_MSG, sizeof(log_PID), \
"PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDA_MSG, sizeof(log_PID), \
"PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_PIDS_MSG, sizeof(log_PID), \
"PIDS", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
{ LOG_DSTL_MSG, sizeof(log_DSTL), \
"DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \
{ LOG_BAR2_MSG, sizeof(log_BARO), \
"BAR2", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_BAR3_MSG, sizeof(log_BARO), \
"BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
"IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
"IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
"IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
{ LOG_ISBH_MSG, sizeof(log_ISBH), \
"ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \
{ LOG_ISBD_MSG, sizeof(log_ISBD), \
"ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" }, \
{ LOG_DF_FILE_STATS, sizeof(log_DSF), \
"DSF", "QIHIIII", "TimeUS,Dp,Blk,Bytes,FMn,FMx,FAv", "s--b---", "F--0---" }, \
{ LOG_RPM_MSG, sizeof(log_RPM), \
"RPM", "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \
{ LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
"GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \
{ LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
"GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \
{ LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
"GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \
{ LOG_RATE_MSG, sizeof(log_Rate), \
"RATE", "Qffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \
{ LOG_RALLY_MSG, sizeof(log_Rally), \
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
{ LOG_MAV_MSG, sizeof(log_MAV), \
"MAV", "QBHHH", "TimeUS,chan,txp,rxp,rxdp", "s#---", "F-000" }, \
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
{ LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
"OF", "QBffff", "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEEE", "F-0000" }, \
{ LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \
"WENC", "Qfbfb", "TimeUS,Dist0,Qual0,Dist1,Qual1", "sm-m-", "F0-0-" }, \
{ LOG_ADSB_MSG, sizeof(log_ADSB), \
"ADSB", "QIiiiHHhH", "TimeUS,ICAO_address,Lat,Lng,Alt,Heading,Hor_vel,Ver_vel,Squark", "s-DUmhnn-", "F-GGCBCC-" }
#define LOG_SBP_STRUCTURES \
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" }, \
{ LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
"SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" }, \
{ LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
{ LOG_EVENT_MSG, sizeof(log_Event), \
"EV", "QB", "TimeUS,Id", "s-", "F-" }, \
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }, \
{ LOG_ARM_DISARM_MSG, sizeof(log_Arm_Disarm), \
"ARM", "QBH", "TimeUS,ArmState,ArmChecks", "s--", "F--" }, \
{ LOG_ERROR_MSG, sizeof(log_Error), \
"ERR", "QBB", "TimeUS,Subsys,ECode", "s--", "F--" }
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
// message types 0 to 63 reserved for vehicle specific use
// message types for common messages
enum LogMessages : uint8_t {
LOG_NKF1_MSG = 64,
LOG_NKF2_MSG,
LOG_NKF3_MSG,
LOG_NKF4_MSG,
LOG_NKF5_MSG,
LOG_NKF6_MSG,
LOG_NKF7_MSG,
LOG_NKF8_MSG,
LOG_NKF9_MSG,
LOG_NKF10_MSG,
LOG_NKQ1_MSG,
LOG_NKQ2_MSG,
LOG_XKF1_MSG,
LOG_XKF2_MSG,
LOG_XKF3_MSG,
LOG_XKF4_MSG,
LOG_XKF5_MSG,
LOG_XKF6_MSG,
LOG_XKF7_MSG,
LOG_XKF8_MSG,
LOG_XKF9_MSG,
LOG_XKF10_MSG,
LOG_XKQ1_MSG,
LOG_XKQ2_MSG,
LOG_XKFD_MSG,
LOG_XKV1_MSG,
LOG_XKV2_MSG,
LOG_FORMAT_MSG = 128, // this must remain #128
LOG_PARAMETER_MSG,
LOG_GPS_MSG,
LOG_GPS2_MSG,
LOG_GPSB_MSG,
LOG_IMU_MSG,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
LOG_RCOUT_MSG,
LOG_RSSI_MSG,
LOG_IMU2_MSG,
LOG_BARO_MSG,
LOG_POWR_MSG,
LOG_AHR2_MSG,
LOG_SIMSTATE_MSG,
LOG_CMD_MSG,
LOG_RADIO_MSG,
LOG_ATRP_MSG,
LOG_CAMERA_MSG,
LOG_IMU3_MSG,
LOG_TERRAIN_MSG,
LOG_GPS_UBX1_MSG,
LOG_GPS_UBX2_MSG,
LOG_GPS2_UBX1_MSG,
LOG_GPS2_UBX2_MSG,
LOG_ESC1_MSG,
LOG_ESC2_MSG,
LOG_ESC3_MSG,
LOG_ESC4_MSG,
LOG_ESC5_MSG,
LOG_ESC6_MSG,
LOG_ESC7_MSG,
LOG_ESC8_MSG,
LOG_BAR2_MSG,
LOG_ARSP_MSG,
LOG_ATTITUDE_MSG,
LOG_CURRENT_MSG,
LOG_CURRENT2_MSG,
LOG_CURRENT3_MSG,
LOG_CURRENT4_MSG,
LOG_CURRENT5_MSG,
LOG_CURRENT6_MSG,
LOG_CURRENT7_MSG,
LOG_CURRENT8_MSG,
LOG_CURRENT9_MSG,
LOG_CURRENT_CELLS_MSG,
LOG_CURRENT_CELLS2_MSG,
LOG_CURRENT_CELLS3_MSG,
LOG_CURRENT_CELLS4_MSG,
LOG_CURRENT_CELLS5_MSG,
LOG_CURRENT_CELLS6_MSG,
LOG_CURRENT_CELLS7_MSG,
LOG_CURRENT_CELLS8_MSG,
LOG_CURRENT_CELLS9_MSG,
LOG_COMPASS_MSG,
LOG_COMPASS2_MSG,
LOG_COMPASS3_MSG,
LOG_MODE_MSG,
LOG_GPS_RAW_MSG,
LOG_GPS_RAWH_MSG,
LOG_GPS_RAWS_MSG,
LOG_GPS_SBF_EVENT_MSG,
LOG_ACC1_MSG,
LOG_ACC2_MSG,
LOG_ACC3_MSG,
LOG_GYR1_MSG,
LOG_GYR2_MSG,
LOG_GYR3_MSG,
LOG_POS_MSG,
LOG_PIDR_MSG,
LOG_PIDP_MSG,
LOG_PIDY_MSG,
LOG_PIDA_MSG,
LOG_PIDS_MSG,
LOG_DSTL_MSG,
LOG_VIBE_MSG,
LOG_IMUDT_MSG,
LOG_IMUDT2_MSG,
LOG_IMUDT3_MSG,
LOG_ORGN_MSG,
LOG_RPM_MSG,
LOG_GPA_MSG,
LOG_GPA2_MSG,
LOG_GPAB_MSG,
LOG_RFND_MSG,
LOG_BAR3_MSG,
LOG_MAV_STATS,
LOG_FORMAT_UNITS_MSG,
LOG_UNIT_MSG,
LOG_MULT_MSG,
LOG_MSG_SBPHEALTH,
LOG_MSG_SBPLLH,
LOG_MSG_SBPBASELINE,
LOG_MSG_SBPTRACKING1,
LOG_MSG_SBPTRACKING2,
LOG_MSG_SBPRAWH,
LOG_MSG_SBPRAWM,
LOG_MSG_SBPEVENT,
LOG_TRIGGER_MSG,
LOG_GIMBAL1_MSG,
LOG_GIMBAL2_MSG,
LOG_GIMBAL3_MSG,
LOG_RATE_MSG,
LOG_RALLY_MSG,
LOG_VISUALODOM_MSG,
LOG_AOA_SSA_MSG,
LOG_BEACON_MSG,
LOG_PROXIMITY_MSG,
LOG_DF_FILE_STATS,
LOG_SRTL_MSG,
LOG_ISBH_MSG,
LOG_ISBD_MSG,
LOG_ASP2_MSG,
LOG_PERFORMANCE_MSG,
LOG_OPTFLOW_MSG,
LOG_EVENT_MSG,
LOG_WHEELENCODER_MSG,
LOG_MAV_MSG,
LOG_ERROR_MSG,
LOG_ADSB_MSG,
LOG_ARM_DISARM_MSG,
LOG_OA_MSG,
_LOG_LAST_MSG_
};
static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats");
enum LogOriginType {
ekf_origin = 0,
ahrs_home = 1
};
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