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AP_Logger: added logging of baro, gps, airspeed to XKFS

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new XKFS message for "XKF Sensor"
This commit is contained in:
Harshit Kumar Sankhla 2020-06-23 22:05:34 +05:30 committed by Andrew Tridgell
parent d7edc946b6
commit 9588a68e1b
1 changed files with 24 additions and 3 deletions
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27
libraries/AP_Logger/LogStructure.h
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@ -474,7 +474,6 @@ struct PACKED log_XKF2 {
int16_t magX;
int16_t magY;
int16_t magZ;
uint8_t index;
};
struct PACKED log_EKF3 {
@ -581,6 +580,17 @@ struct PACKED log_NKF5 {
float posErr;
};
// common sensor selection log message
struct PACKED log_EKFS {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t core;
uint8_t mag_index;
uint8_t baro_index;
uint8_t gps_index;
uint8_t airspeed_index;
};
struct PACKED log_Quaternion {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -2313,7 +2323,6 @@ struct PACKED log_Winch {
// @Field: MX: Magnetic field strength (body X-axis)
// @Field: MY: Magnetic field strength (body Y-axis)
// @Field: MZ: Magnetic field strength (body Z-axis)
// @Field: MI: Magnetometer used for data
// @LoggerMessage: XKF3
// @Description: EKF3 innovations
@ -2367,6 +2376,15 @@ struct PACKED log_Winch {
// @Field: eVel: Magnitude of velocity error
// @Field: ePos: Magnitude of position error
// @LoggerMessage: XKFS
// @Description: EKF3 sensor selection
// @Field: TimeUS: Time since system startup
// @Field: C: EKF3 core this data is for
// @Field: MI: compass selection index
// @Field: BI: barometer selection index
// @Field: GI: GPS selection index
// @Field: AI: airspeed selection index
// @LoggerMessage: XKFD
// @Description: EKF3 Body Frame Odometry errors
// @Field: TimeUS: Time since system startup
@ -2539,7 +2557,7 @@ struct PACKED log_Winch {
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
"XKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
{ LOG_XKF2_MSG, sizeof(log_XKF2), \
"XKF2","QBccccchhhhhhB","TimeUS,C,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#---nnGGGGGG-", "F----BBCCCCCC-" }, \
"XKF2","QBccccchhhhhh","TimeUS,C,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ", "s#---nnGGGGGG", "F----BBCCCCCC" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
@ -2548,6 +2566,8 @@ struct PACKED log_Winch {
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
{ 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_XKFS_MSG, sizeof(log_EKFS), \
"XKFS","QBBBBB","TimeUS,C,MI,BI,GI,AI", "s#----", "F-----" }, \
{ LOG_XKQ_MSG, sizeof(log_Quaternion), "XKQ", 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------" }, \
@ -2697,6 +2717,7 @@ enum LogMessages : uint8_t {
LOG_XKF4_MSG,
LOG_XKF5_MSG,
LOG_XKF10_MSG,
LOG_XKFS_MSG,
LOG_XKQ_MSG,
LOG_XKFD_MSG,
LOG_XKV1_MSG,