|
|
|
|
@ -20,6 +20,8 @@ struct LogStructure {
|
|
|
|
|
const char name[5];
|
|
|
|
|
const char format[16];
|
|
|
|
|
const char labels[64];
|
|
|
|
|
const char units[16];
|
|
|
|
|
const char multipliers[16];
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
@ -34,6 +36,95 @@ struct PACKED log_Format {
|
|
|
|
|
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 UnitStructure {
|
|
|
|
|
const char ID;
|
|
|
|
|
const char unit[64];
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
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"
|
|
|
|
|
const struct UnitStructure log_Units[] = {
|
|
|
|
|
{ '-', "" }, // no units e.g. Pi, or a string
|
|
|
|
|
{ '?', "UNKNOWN" }, // Units which haven't been worked out yet....
|
|
|
|
|
{ 'A', "amp" },
|
|
|
|
|
{ 'd', "degrees" }, // of the angular variety, -180 to 180
|
|
|
|
|
{ 'D', "deglatitude" },
|
|
|
|
|
{ 'b', "bytes" },
|
|
|
|
|
{ 'k', "degrees/second" },
|
|
|
|
|
{ 'e', "degrees/second/second" },
|
|
|
|
|
{ 'E', "radians/second" },
|
|
|
|
|
{ 'G', "gauss" },
|
|
|
|
|
{ 'h', "degheading" }, // 0.? to 359.?
|
|
|
|
|
{ 'i', "amp*seconds" },
|
|
|
|
|
// { 'l', "litres" },
|
|
|
|
|
{ 'L', "radians/second/second" },
|
|
|
|
|
{ 'm', "metres" },
|
|
|
|
|
{ 'n', "metres/second" },
|
|
|
|
|
// { 'N', "Newton" },
|
|
|
|
|
{ 'o', "metres/second/second" },
|
|
|
|
|
{ 'O', "degcelsius" },
|
|
|
|
|
{ 'S', "satellites" },
|
|
|
|
|
{ 's', "seconds" },
|
|
|
|
|
{ 'q', "rpm" },
|
|
|
|
|
{ 'r', "radians" },
|
|
|
|
|
{ 'u', "pulses/minute" }, // i.e. ppm
|
|
|
|
|
{ 'U', "deglongitude" },
|
|
|
|
|
{ 'v', "volt" },
|
|
|
|
|
{ 'P', "pascal" },
|
|
|
|
|
{ 'w', "ohm" },
|
|
|
|
|
{ 'z', "hertz" }
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
// 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[] = {
|
|
|
|
|
// <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 }, // (amps*seconds => milliamps*hours) and (km/h => m/s)
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
struct PACKED log_Parameter {
|
|
|
|
|
LOG_PACKET_HEADER;
|
|
|
|
|
uint64_t time_us;
|
|
|
|
|
@ -943,52 +1034,86 @@ struct PACKED log_DSTL {
|
|
|
|
|
|
|
|
|
|
// #endif // SBP_HW_LOGGING
|
|
|
|
|
|
|
|
|
|
// 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_FMT "QQfff"
|
|
|
|
|
#define ACC_UNITS "ssnnn"
|
|
|
|
|
#define ACC_MULTS "FF000"
|
|
|
|
|
|
|
|
|
|
// see "struct sensor" in AP_Baro.h and "Log_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"
|
|
|
|
|
#define ESC_FMT "Qcccc"
|
|
|
|
|
#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 "Log_Write_GPS":
|
|
|
|
|
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U"
|
|
|
|
|
#define GPS_FMT "QBIHBcLLefffB"
|
|
|
|
|
#define GPS_UNITS "s---SmDUmnhn-"
|
|
|
|
|
#define GPS_MULTS "F---0BGGBBB0-"
|
|
|
|
|
|
|
|
|
|
#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,P,I,D,FF,AFF"
|
|
|
|
|
#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,Temp,Res"
|
|
|
|
|
#define CURR_FMT "Qffffcf"
|
|
|
|
|
#define CURR_UNITS "sv?A?Ow"
|
|
|
|
|
#define CURR_MULTS "F??????"
|
|
|
|
|
|
|
|
|
|
#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"
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
Format characters in the format string for binary log messages
|
|
|
|
|
@ -1017,239 +1142,245 @@ Format characters in the format string for binary log messages
|
|
|
|
|
// messages for all boards
|
|
|
|
|
#define LOG_BASE_STRUCTURES \
|
|
|
|
|
{ LOG_FORMAT_MSG, sizeof(log_Format), \
|
|
|
|
|
"FMT", "BBnNZ", "Type,Length,Name,Format,Columns" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
|
|
|
|
|
{ LOG_GPS_MSG, sizeof(log_GPS), \
|
|
|
|
|
"GPS", GPS_FMT, GPS_LABELS }, \
|
|
|
|
|
"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
|
|
|
|
|
{ LOG_GPS2_MSG, sizeof(log_GPS), \
|
|
|
|
|
"GPS2", GPS_FMT, GPS_LABELS }, \
|
|
|
|
|
"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
|
|
|
|
|
{ LOG_GPSB_MSG, sizeof(log_GPS), \
|
|
|
|
|
"GPSB", GPS_FMT, GPS_LABELS }, \
|
|
|
|
|
"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
|
|
|
|
|
{ LOG_GPA_MSG, sizeof(log_GPA), \
|
|
|
|
|
"GPA", GPA_FMT, GPA_LABELS }, \
|
|
|
|
|
"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
|
|
|
|
|
{ LOG_GPA2_MSG, sizeof(log_GPA), \
|
|
|
|
|
"GPA2", GPA_FMT, GPA_LABELS }, \
|
|
|
|
|
"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
|
|
|
|
|
{ LOG_GPAB_MSG, sizeof(log_GPA), \
|
|
|
|
|
"GPAB", GPA_FMT, GPA_LABELS }, \
|
|
|
|
|
"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
|
|
|
|
|
{ LOG_IMU_MSG, sizeof(log_IMU), \
|
|
|
|
|
"IMU", IMU_FMT, IMU_LABELS }, \
|
|
|
|
|
"IMU", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
|
|
|
|
|
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
|
|
|
|
|
"MSG", "QZ", "TimeUS,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" }, \
|
|
|
|
|
"RCIN", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "suuuuuuuuuuuuuu", "F--------------" }, \
|
|
|
|
|
{ LOG_RCOUT_MSG, sizeof(log_RCOUT), \
|
|
|
|
|
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14" }, \
|
|
|
|
|
"RCOU", "QHHHHHHHHHHHHHH", "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "suuuuuuuuuuuuuu", "F--------------" }, \
|
|
|
|
|
{ LOG_RSSI_MSG, sizeof(log_RSSI), \
|
|
|
|
|
"RSSI", "Qf", "TimeUS,RXRSSI" }, \
|
|
|
|
|
"RSSI", "Qf", "TimeUS,RXRSSI", "s-", "F-" }, \
|
|
|
|
|
{ LOG_BARO_MSG, sizeof(log_BARO), \
|
|
|
|
|
"BARO", BARO_FMT, BARO_LABELS }, \
|
|
|
|
|
"BARO", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
|
|
|
|
|
{ LOG_POWR_MSG, sizeof(log_POWR), \
|
|
|
|
|
"POWR","QffH","TimeUS,Vcc,VServo,Flags" }, \
|
|
|
|
|
"POWR","QffH","TimeUS,Vcc,VServo,Flags", "svv-", "FBB-" }, \
|
|
|
|
|
{ LOG_CMD_MSG, sizeof(log_Cmd), \
|
|
|
|
|
"CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt" }, \
|
|
|
|
|
"CMD", "QHHHfffffff","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt", "s-------DUm", "F-------GG0" }, \
|
|
|
|
|
{ LOG_RADIO_MSG, sizeof(log_Radio), \
|
|
|
|
|
"RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
|
|
|
|
|
{ LOG_ARSP_MSG, sizeof(log_AIRSPEED), \
|
|
|
|
|
"ARSP", "QffcffB", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U" }, \
|
|
|
|
|
"ARSP", "QffcffB", "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U", "snPOPP-", "F00B00-" }, \
|
|
|
|
|
{ LOG_CURRENT_MSG, sizeof(log_Current), \
|
|
|
|
|
"BAT", CURR_FMT,CURR_LABELS }, \
|
|
|
|
|
"BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
|
|
|
|
|
{ LOG_CURRENT2_MSG, sizeof(log_Current), \
|
|
|
|
|
"BAT2", CURR_FMT,CURR_LABELS }, \
|
|
|
|
|
"BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
|
|
|
|
|
{ LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
|
|
|
|
|
"BCL", CURR_CELL_FMT, CURR_CELL_LABELS }, \
|
|
|
|
|
"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 }, \
|
|
|
|
|
"BCL2", 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" }, \
|
|
|
|
|
"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", MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
|
|
|
|
|
{ LOG_MODE_MSG, sizeof(log_Mode), \
|
|
|
|
|
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn" }, \
|
|
|
|
|
"MODE", "QMBB", "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
|
|
|
|
|
{ LOG_RFND_MSG, sizeof(log_RFND), \
|
|
|
|
|
"RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2" }, \
|
|
|
|
|
"RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2", "sm-m-", "FB-B-" }, \
|
|
|
|
|
{ LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
|
|
|
|
|
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" }, \
|
|
|
|
|
"DMS", "IIIIIBBBBBBBBBB", "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "F--------------" }, \
|
|
|
|
|
{ LOG_BEACON_MSG, sizeof(log_Beacon), \
|
|
|
|
|
"BCN", "QBBfffffff", "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
|
|
|
|
|
{ LOG_SRTL_MSG, sizeof(log_SRTL), \
|
|
|
|
|
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D" }
|
|
|
|
|
"SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }
|
|
|
|
|
|
|
|
|
|
// messages for more advanced boards
|
|
|
|
|
#define LOG_EXTRA_STRUCTURES \
|
|
|
|
|
{ LOG_IMU2_MSG, sizeof(log_IMU), \
|
|
|
|
|
"IMU2", IMU_FMT, IMU_LABELS }, \
|
|
|
|
|
"IMU2", IMU_FMT, IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
|
|
|
|
|
{ LOG_IMU3_MSG, sizeof(log_IMU), \
|
|
|
|
|
"IMU3", IMU_FMT, IMU_LABELS }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBBBGG????" }, \
|
|
|
|
|
{ LOG_POS_MSG, sizeof(log_POS), \
|
|
|
|
|
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt" }, \
|
|
|
|
|
"POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGGBBB" }, \
|
|
|
|
|
{ LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
|
|
|
|
|
"SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
{ LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS }, \
|
|
|
|
|
{ LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
{ LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS }, \
|
|
|
|
|
{ LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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 }, \
|
|
|
|
|
"ESC1", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC2_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC2", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC2", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC3_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC3", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC3", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC4_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC4", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC4", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC5_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC5", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC5", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC6_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC6", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC6", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC7_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC7", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC7", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_ESC8_MSG, sizeof(log_Esc), \
|
|
|
|
|
"ESC8", ESC_FMT, ESC_LABELS }, \
|
|
|
|
|
"ESC8", ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
|
|
|
|
|
{ LOG_COMPASS2_MSG, sizeof(log_Compass), \
|
|
|
|
|
"MAG2",MAG_FMT, MAG_LABELS }, \
|
|
|
|
|
"MAG2",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
|
|
|
|
|
{ LOG_COMPASS3_MSG, sizeof(log_Compass), \
|
|
|
|
|
"MAG3",MAG_FMT, MAG_LABELS }, \
|
|
|
|
|
"MAG3",MAG_FMT, MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
|
|
|
|
|
{ LOG_ACC1_MSG, sizeof(log_ACCEL), \
|
|
|
|
|
"ACC1", ACC_FMT, ACC_LABELS }, \
|
|
|
|
|
"ACC1", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
|
|
|
|
|
{ LOG_ACC2_MSG, sizeof(log_ACCEL), \
|
|
|
|
|
"ACC2", ACC_FMT, ACC_LABELS }, \
|
|
|
|
|
"ACC2", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
|
|
|
|
|
{ LOG_ACC3_MSG, sizeof(log_ACCEL), \
|
|
|
|
|
"ACC3", ACC_FMT, ACC_LABELS }, \
|
|
|
|
|
"ACC3", ACC_FMT, ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
|
|
|
|
|
{ LOG_GYR1_MSG, sizeof(log_GYRO), \
|
|
|
|
|
"GYR1", GYR_FMT, GYR_LABELS }, \
|
|
|
|
|
"GYR1", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
|
|
|
|
|
{ LOG_GYR2_MSG, sizeof(log_GYRO), \
|
|
|
|
|
"GYR2", GYR_FMT, GYR_LABELS }, \
|
|
|
|
|
"GYR2", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
|
|
|
|
|
{ LOG_GYR3_MSG, sizeof(log_GYRO), \
|
|
|
|
|
"GYR3", GYR_FMT, GYR_LABELS }, \
|
|
|
|
|
"GYR3", GYR_FMT, GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
|
|
|
|
|
{ LOG_PIDR_MSG, sizeof(log_PID), \
|
|
|
|
|
"PIDR", PID_FMT, PID_LABELS }, \
|
|
|
|
|
"PIDR", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
|
|
|
|
|
{ LOG_PIDP_MSG, sizeof(log_PID), \
|
|
|
|
|
"PIDP", PID_FMT, PID_LABELS }, \
|
|
|
|
|
"PIDP", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
|
|
|
|
|
{ LOG_PIDY_MSG, sizeof(log_PID), \
|
|
|
|
|
"PIDY", PID_FMT, PID_LABELS }, \
|
|
|
|
|
"PIDY", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
|
|
|
|
|
{ LOG_PIDA_MSG, sizeof(log_PID), \
|
|
|
|
|
"PIDA", PID_FMT, PID_LABELS }, \
|
|
|
|
|
"PIDA", PID_FMT, PID_LABELS, PID_UNITS, PID_MULTS }, \
|
|
|
|
|
{ LOG_PIDS_MSG, sizeof(log_PID), \
|
|
|
|
|
"PIDS", PID_FMT, PID_LABELS }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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 }, \
|
|
|
|
|
"BAR2", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
|
|
|
|
|
{ LOG_BAR3_MSG, sizeof(log_BARO), \
|
|
|
|
|
"BAR3", BARO_FMT, BARO_LABELS }, \
|
|
|
|
|
"BAR3", BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
|
|
|
|
|
{ LOG_VIBE_MSG, sizeof(log_Vibe), \
|
|
|
|
|
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \
|
|
|
|
|
"VIBE", "QfffIII", "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
|
|
|
|
|
{ LOG_IMUDT_MSG, sizeof(log_IMUDT), \
|
|
|
|
|
"IMT",IMT_FMT,IMT_LABELS }, \
|
|
|
|
|
"IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
|
|
|
|
|
{ LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
|
|
|
|
|
"IMT2",IMT_FMT,IMT_LABELS }, \
|
|
|
|
|
"IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
|
|
|
|
|
{ LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
|
|
|
|
|
"IMT3",IMT_FMT,IMT_LABELS }, \
|
|
|
|
|
"IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
|
|
|
|
|
{ LOG_ISBH_MSG, sizeof(log_ISBH), \
|
|
|
|
|
"ISBH",ISBH_FMT,ISBH_LABELS }, \
|
|
|
|
|
"ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS }, \
|
|
|
|
|
{ LOG_ISBD_MSG, sizeof(log_ISBD), \
|
|
|
|
|
"ISBD",ISBD_FMT,ISBD_LABELS }, \
|
|
|
|
|
"ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
|
|
|
|
|
{ LOG_ORGN_MSG, sizeof(log_ORGN), \
|
|
|
|
|
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
|
|
|
|
|
"ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" }, \
|
|
|
|
|
{ LOG_DF_FILE_STATS, sizeof(log_DSF), \
|
|
|
|
|
"DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv" }, \
|
|
|
|
|
"DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv", "s---b---", "F---0---" }, \
|
|
|
|
|
{ LOG_RPM_MSG, sizeof(log_RPM), \
|
|
|
|
|
"RPM", "Qff", "TimeUS,rpm1,rpm2" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" }, \
|
|
|
|
|
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
|
|
|
|
|
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf" }
|
|
|
|
|
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }
|
|
|
|
|
|
|
|
|
|
// #if SBP_HW_LOGGING
|
|
|
|
|
#define LOG_SBP_STRUCTURES \
|
|
|
|
|
{ LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
|
|
|
|
|
"SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"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" }, \
|
|
|
|
|
"SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
|
|
|
|
|
{ LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
|
|
|
|
|
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality" }
|
|
|
|
|
"SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
|
|
|
|
|
// #endif
|
|
|
|
|
|
|
|
|
|
#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES
|
|
|
|
|
@ -1358,6 +1489,9 @@ enum LogMessages {
|
|
|
|
|
LOG_XKV1_MSG,
|
|
|
|
|
LOG_XKV2_MSG,
|
|
|
|
|
LOG_DF_MAV_STATS,
|
|
|
|
|
LOG_FORMAT_UNITS_MSG,
|
|
|
|
|
LOG_UNIT_MSG,
|
|
|
|
|
LOG_MULT_MSG,
|
|
|
|
|
|
|
|
|
|
LOG_MSG_SBPHEALTH,
|
|
|
|
|
LOG_MSG_SBPLLH,
|
|
|
|
|
|
Peter Barker
Peter Barker