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Copter: Added logger documentation

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Rishabh 2020-04-01 16:55:54 +05:30 committed by Andrew Tridgell
parent 3b077ec612
commit 62ec6540ec
1 changed files with 83 additions and 0 deletions
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83
ArduCopter/Log.cpp
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@ -451,6 +451,16 @@ void Copter::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_tar
// units and "Format characters" for field type information
const struct LogStructure Copter::log_structure[] = {
LOG_COMMON_STRUCTURES,
// @LoggerMessage: PTUN
// @Description: Parameter Tuning information
// @URL: https://ardupilot.org/copter/docs/tuning.html#in-flight-tuning
// @Field: TimeUS: Microseconds since system startup
// @Field: Param: Parameter being tuned
// @Field: TunVal: Normalized value used inside tuning() function
// @Field: TunMin: Tuning minimum limit
// @Field: TunMax: Tuning maximum limit
{ LOG_PARAMTUNE_MSG, sizeof(log_ParameterTuning),
"PTUN", "QBfff", "TimeUS,Param,TunVal,TunMin,TunMax", "s----", "F----" },
@ -472,6 +482,15 @@ const struct LogStructure Copter::log_structure[] = {
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Qffffffefffhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00B000BB" },
// @LoggerMessage: MOTB
// @Description: Battery information
// @Field: TimeUS: Microseconds since system startup
// @Field: LiftMax: Maximum motor compensation gain
// @Field: BatVolt: Ratio betwen detected battery voltage and maximum battery voltage
// @Field: BatRes: Estimated battery resistance
// @Field: ThLimit: Throttle limit set due to battery current limitations
{ LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_DATA_INT16_MSG, sizeof(log_Data_Int16t),
@ -484,18 +503,82 @@ const struct LogStructure Copter::log_structure[] = {
"DU32", "QBI", "TimeUS,Id,Value", "s--", "F--" },
{ LOG_DATA_FLOAT_MSG, sizeof(log_Data_Float),
"DFLT", "QBf", "TimeUS,Id,Value", "s--", "F--" },
// @LoggerMessage: HELI
// @Description: Helicopter related messages
// @Field: TimeUS: Microseconds since system startup
// @Field: DRRPM: Desired rotor speed
// @Field: ERRPM: Estimated rotor speed
// @Field: Gov: Governor Output
// @Field: Throt: Throttle output
#if FRAME_CONFIG == HELI_FRAME
{ LOG_HELI_MSG, sizeof(log_Heli),
"HELI", "Qffff", "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" },
#endif
// @LoggerMessage: PL
// @Description: Precision Landing messages
// @Field: TimeUS: Microseconds since system startup
// @Field: Heal: True if Precision Landing is healthy
// @Field: TAcq: True if landing target is detected
// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found)
// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found)
// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found)
// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found)
// @Field: mX: Target's relative to origin postion as 3-D Vector, X-Axis
// @Field: mY: Target's relative to origin postion as 3-D Vector, Y-Axis
// @Field: mZ: Target's relative to origin postion as 3-D Vector, Z-Axis
// @Field: LastMeasUS: Time when target was last detected
// @Field: EKFOutl: EKF's outlier count
// @Field: Est: Type of estimator used
#if PRECISION_LANDING == ENABLED
{ LOG_PRECLAND_MSG, sizeof(log_Precland),
"PL", "QBBfffffffIIB", "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasUS,EKFOutl,Est", "s--ddmmddms--","F--00BB00BC--" },
#endif
// @LoggerMessage: SIDD
// @Description: System ID data
// @Field: TimeUS: Microseconds since system startup
// @Field: Time: Time reference for waveform
// @Field: Targ: Current waveform sample
// @Field: F: Instantaneous waveform frequency
// @Field: Gx: Delta angle, X-Axis
// @Field: Gy: Delta angle, Y-Axis
// @Field: Gz: Delta angle, Z-Axis
// @Field: Ax: Delta velocity, X-Axis
// @Field: Ay: Delta velocity, Y-Axis
// @Field: Az: Delta velocity, Z-Axis
{ LOG_SYSIDD_MSG, sizeof(log_SysIdD),
"SIDD", "Qfffffffff", "TimeUS,Time,Targ,F,Gx,Gy,Gz,Ax,Ay,Az", "ss-zkkkooo", "F---------" },
// @LoggerMessage: SIDS
// @Description: System ID settings
// @Field: TimeUS: Microseconds since system startup
// @Field: Ax: The axis which is being excited
// @Field: Mag: Magnitude of the chirp waveform
// @Field: FSt: Frequency at the start of chirp
// @Field: FSp: Frequency at the end of chirp
// @Field: TFin: Time to reach maximum amplitude of chirp
// @Field: TC: Time at constant frequency before chirp starts
// @Field: TR: Time taken to complete chirp waveform
// @Field: TFout: Time to reach zero amplitude after chirp finishes
{ LOG_SYSIDS_MSG, sizeof(log_SysIdS),
"SIDS", "QBfffffff", "TimeUS,Ax,Mag,FSt,FSp,TFin,TC,TR,TFout", "s--ssssss", "F--------" },
// @LoggerMessage: GUID
// @Description: Guided mode target information
// @Field: TimeUS: Microseconds since system startup
// @Field: Type: Type of guided mode
// @Field: pX: Target position, X-Axis
// @Field: pY: Target position, Y-Axis
// @Field: pZ: Target position, Z-Axis
// @Field: vX: Target velocity, X-Axis
// @Field: vY: Target velocity, Y-Axis
// @Field: vZ: Target velocity, Z-Axis
{ LOG_GUIDEDTARGET_MSG, sizeof(log_GuidedTarget),
"GUID", "QBffffff", "TimeUS,Type,pX,pY,pZ,vX,vY,vZ", "s-mmmnnn", "F-000000" },
};