mirror of https://github.com/ArduPilot/ardupilot
210 lines
6.7 KiB
C
210 lines
6.7 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#define LOG_IDS_FROM_AHRS \
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LOG_AHR2_MSG, \
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LOG_AOA_SSA_MSG, \
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LOG_ATTITUDE_MSG, \
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LOG_ORGN_MSG, \
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LOG_POS_MSG, \
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LOG_RATE_MSG, \
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LOG_ATSC_MSG
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// @LoggerMessage: AHR2
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// @Description: Backup AHRS data
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// @Field: TimeUS: Time since system startup
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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: Alt: Estimated altitude
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// @Field: Lat: Estimated latitude
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// @Field: Lng: Estimated longitude
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// @Field: Q1: Estimated attitude quaternion component 1
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// @Field: Q2: Estimated attitude quaternion component 2
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// @Field: Q3: Estimated attitude quaternion component 3
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// @Field: Q4: Estimated attitude quaternion component 4
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struct PACKED log_AHRS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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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 alt;
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int32_t lat;
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int32_t lng;
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float q1, q2, q3, q4;
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};
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// @LoggerMessage: AOA
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// @Description: Angle of attack and Side Slip Angle values
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// @Field: TimeUS: Time since system startup
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// @Field: AOA: Angle of Attack calculated from airspeed, wind vector,velocity vector
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// @Field: SSA: Side Slip Angle calculated from airspeed, wind vector,velocity vector
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struct PACKED log_AOA_SSA {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float AOA;
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float SSA;
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};
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// @LoggerMessage: ATT
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// @Description: Canonical vehicle attitude
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// @Field: TimeUS: Time since system startup
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// @Field: DesRoll: vehicle desired roll
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// @Field: Roll: achieved vehicle roll
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// @Field: DesPitch: vehicle desired pitch
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// @Field: Pitch: achieved vehicle pitch
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// @Field: DesYaw: vehicle desired yaw
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// @Field: Yaw: achieved vehicle yaw
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// @Field: AEKF: active EKF type
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struct PACKED log_Attitude {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float control_roll;
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float roll;
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float control_pitch;
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float pitch;
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float control_yaw;
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float yaw;
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uint8_t active;
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};
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// @LoggerMessage: ORGN
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// @Description: Vehicle navigation origin or other notable position
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// @Field: TimeUS: Time since system startup
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// @Field: Type: Position type
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// @FieldValueEnum: Type: AP_AHRS::LogOriginType
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// @Field: Lat: Position latitude
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// @Field: Lng: Position longitude
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// @Field: Alt: Position altitude
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struct PACKED log_ORGN {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t origin_type;
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int32_t latitude;
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int32_t longitude;
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int32_t altitude;
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};
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// @LoggerMessage: POS
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// @Description: Canonical vehicle position
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// @Field: TimeUS: Time since system startup
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// @Field: Lat: Canonical vehicle latitude
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// @Field: Lng: Canonical vehicle longitude
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// @Field: Alt: Canonical vehicle altitude
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// @Field: RelHomeAlt: Canonical vehicle altitude relative to home
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// @Field: RelOriginAlt: Canonical vehicle altitude relative to navigation origin
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struct PACKED log_POS {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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int32_t lat;
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int32_t lng;
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float alt;
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float rel_home_alt;
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float rel_origin_alt;
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};
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// @LoggerMessage: RATE
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// @Description: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.
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// @Field: TimeUS: Time since system startup
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// @Field: RDes: vehicle desired roll rate
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// @Field: R: achieved vehicle roll rate
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// @Field: ROut: normalized output for Roll
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// @Field: PDes: vehicle desired pitch rate
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// @Field: P: vehicle pitch rate
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// @Field: POut: normalized output for Pitch
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// @Field: Y: achieved vehicle yaw rate
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// @Field: YOut: normalized output for Yaw
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// @Field: YDes: vehicle desired yaw rate
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// @Field: ADes: desired vehicle vertical acceleration
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// @Field: A: achieved vehicle vertical acceleration
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// @Field: AOut: percentage of vertical thrust output current being used
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// @Field: AOutSlew: vertical thrust output slew rate
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struct PACKED log_Rate {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float control_roll;
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float roll;
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float roll_out;
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float control_pitch;
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float pitch;
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float pitch_out;
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float control_yaw;
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float yaw;
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float yaw_out;
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float control_accel;
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float accel;
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float accel_out;
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float throttle_slew;
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};
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// @LoggerMessage: VSTB
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// @Description: Log message for video stabilisation software such as Gyroflow
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// @Field: TimeUS: Time since system startup
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// @Field: GyrX: measured rotation rate about X axis
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// @Field: GyrY: measured rotation rate about Y axis
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// @Field: GyrZ: measured rotation rate about Z axis
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// @Field: AccX: acceleration along X axis
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// @Field: AccY: acceleration along Y axis
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// @Field: AccZ: acceleration along Z axis
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// @Field: Q1: Estimated attitude quaternion component 1
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// @Field: Q2: Estimated attitude quaternion component 2
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// @Field: Q3: Estimated attitude quaternion component 3
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// @Field: Q4: Estimated attitude quaternion component 4
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struct PACKED log_Video_Stabilisation {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float gyro_x;
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float gyro_y;
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float gyro_z;
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float accel_x;
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float accel_y;
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float accel_z;
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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: ATSC
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// @Description: Scale factors for attitude controller
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// @Field: TimeUS: Time since system startup
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// @Field: AngPScX: Angle P scale X
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// @Field: AngPScY: Angle P scale Y
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// @Field: AngPScZ: Angle P scale Z
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// @Field: PDScX: PD scale X
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// @Field: PDScY: PD scale Y
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// @Field: PDScZ: PD scale Z
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struct PACKED log_ATSC {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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float scaleP_x;
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float scaleP_y;
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float scaleP_z;
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float scalePD_x;
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float scalePD_y;
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float scalePD_z;
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};
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#define LOG_STRUCTURE_FROM_AHRS \
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{ LOG_AHR2_MSG, sizeof(log_AHRS), \
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"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU----", "FBBB0GG----" , true }, \
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{ LOG_AOA_SSA_MSG, sizeof(log_AOA_SSA), \
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"AOA", "Qff", "TimeUS,AOA,SSA", "sdd", "F00" , true }, \
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{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
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"ATT", "QffffffB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,AEKF", "sddddhh-", "F000000-" , true }, \
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{ LOG_ORGN_MSG, sizeof(log_ORGN), \
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"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s#DUm", "F-GGB" }, \
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{ LOG_POS_MSG, sizeof(log_POS), \
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"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \
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{ LOG_RATE_MSG, sizeof(log_Rate), \
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"RATE", "Qfffffffffffff", "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut,AOutSlew", "skk-kk-kk-oo--", "F?????????BB--" , true }, \
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{ LOG_ATSC_MSG, sizeof(log_ATSC), \
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"ATSC", "Qffffff", "TimeUS,AngPScX,AngPScY,AngPScZ,PDScX,PDScY,PDScZ", "s------", "F000000" , true }, \
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{ LOG_VIDEO_STABILISATION_MSG, sizeof(log_Video_Stabilisation), \
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"VSTB", "Qffffffffff", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,Q1,Q2,Q3,Q4", "sEEEooo----", "F0000000000" },
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