From f2b2998f29b42230b006475c5c9c489c80aac254 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 2 Dec 2020 11:49:19 +1100 Subject: [PATCH] AP_Logger: move EKF3 logging structures into EKF3 LogStructure.h --- libraries/AP_Logger/LogStructure.h | 263 ----------------------------- 1 file changed, 263 deletions(-) diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h index 1d6d256d7e..23b18796b8 100644 --- a/libraries/AP_Logger/LogStructure.h +++ b/libraries/AP_Logger/LogStructure.h @@ -445,23 +445,6 @@ struct PACKED log_NKF2 { uint8_t index; }; -struct PACKED log_XKF2 { - LOG_PACKET_HEADER; - uint64_t time_us; - uint8_t core; - 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; -}; - struct PACKED log_NKF3 { LOG_PACKET_HEADER; uint64_t time_us; @@ -500,21 +483,6 @@ struct PACKED log_NKF4 { int8_t primary; }; -struct PACKED log_EKF5 { - LOG_PACKET_HEADER; - uint64_t time_us; - uint8_t core; - 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; @@ -533,17 +501,6 @@ 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; @@ -618,36 +575,6 @@ struct PACKED log_VisualVelocity { uint8_t ignored; }; -struct PACKED log_ekfBodyOdomDebug { - LOG_PACKET_HEADER; - uint64_t time_us; - uint8_t core; - float velInnovX; - float velInnovY; - float velInnovZ; - float velInnovVarX; - float velInnovVarY; - float velInnovVarZ; -}; - -struct PACKED log_ekfStateVar { - LOG_PACKET_HEADER; - uint64_t time_us; - uint8_t core; - 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; @@ -2171,175 +2098,6 @@ struct PACKED log_PSC { // @Field: Dist1: Second wheel distance travelled // @Field: Qual1: Quality measurement of Dist1 -// @LoggerMessage: XKF0 -// @Description: EKF3 beacon sensor diagnostics -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: ID: Beacon sensor ID -// @Field: rng: Beacon range -// @Field: innov: Beacon range innovation -// @Field: SIV: sqrt of beacon range innovation variance -// @Field: TR: Beacon range innovation consistency test ratio -// @Field: BPN: Beacon north position -// @Field: BPE: Beacon east position -// @Field: BPD: Beacon down position -// @Field: OFH: High estimate of vertical position offset of beacons rel to EKF origin -// @Field: OFL: Low estimate of vertical position offset of beacons rel to EKF origin -// @Field: OFN: North position of receiver rel to EKF origin -// @Field: OFE: East position of receiver rel to EKF origin -// @Field: OFD: Down position of receiver rel to EKF origin - -// @LoggerMessage: XKF1 -// @Description: EKF3 estimator outputs -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: Roll: Estimated roll -// @Field: Pitch: Estimated pitch -// @Field: Yaw: Estimated yaw -// @Field: VN: Estimated velocity (North component) -// @Field: VE: Estimated velocity (East component) -// @Field: VD: Estimated velocity (Down component) -// @Field: dPD: Filtered derivative of vertical position (down) -// @Field: PN: Estimated distance from origin (North component) -// @Field: PE: Estimated distance from origin (East component) -// @Field: PD: Estimated distance from origin (Down component) -// @Field: GX: Estimated gyro bias, X axis -// @Field: GY: Estimated gyro bias, Y axis -// @Field: GZ: Estimated gyro bias, Z axis -// @Field: OH: Height of origin above WGS-84 - -// @LoggerMessage: XKF2 -// @Description: EKF3 estimator secondary outputs -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: AX: Estimated accelerometer X bias -// @Field: AY: Estimated accelerometer Y bias -// @Field: AZ: Estimated accelerometer Z bias -// @Field: VWN: Estimated wind velocity (North component) -// @Field: VWE: Estimated wind velocity (East component) -// @Field: MN: Magnetic field strength (North component) -// @Field: ME: Magnetic field strength (East component) -// @Field: MD: Magnetic field strength (Down component) -// @Field: MX: Magnetic field strength (body X-axis) -// @Field: MY: Magnetic field strength (body Y-axis) -// @Field: MZ: Magnetic field strength (body Z-axis) - -// @LoggerMessage: XKF3 -// @Description: EKF3 innovations -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: IVN: Innovation in velocity (North component) -// @Field: IVE: Innovation in velocity (East component) -// @Field: IVD: Innovation in velocity (Down component) -// @Field: IPN: Innovation in position (North component) -// @Field: IPE: Innovation in position (East component) -// @Field: IPD: Innovation in position (Down component) -// @Field: IMX: Innovation in magnetic field strength (X-axis component) -// @Field: IMY: Innovation in magnetic field strength (Y-axis component) -// @Field: IMZ: Innovation in magnetic field strength (Z-axis component) -// @Field: IYAW: Innovation in vehicle yaw -// @Field: IVT: Innovation in true-airspeed -// @Field: RErr: Accumulated relative error of this core with respect to active primary core -// @Field: ErSc: A consolidated error score where higher numbers are less healthy - -// @LoggerMessage: XKF4 -// @Description: EKF3 variances -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: SV: Square root of the velocity variance -// @Field: SP: Square root of the position variance -// @Field: SH: Square root of the height variance -// @Field: SM: Magnetic field variance -// @Field: SVT: Square root of the total airspeed variance -// @Field: errRP: Filtered error in roll/pitch estimate -// @Field: OFN: Most recent position recent magnitude (North component) -// @Field: OFE: Most recent position recent magnitude (East component) -// @Field: FS: Filter fault status -// @Field: TS: Filter timeout status -// @Field: SS: Filter solution status -// @Field: GPS: Filter GPS status -// @Field: PI: Primary core index - -// @LoggerMessage: XKF5 -// @Description: EKF3 Sensor innovations (primary core) and general dumping ground -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: NI: Normalised flow variance -// @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis) -// @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis) -// @Field: AFI: Optical flow LOS rate innovation from terrain offset estimator -// @Field: HAGL: Height above ground level -// @Field: offset: Estimated vertical position of the terrain relative to the nav filter zero datum -// @Field: RI: Range finder innovations -// @Field: rng: Measured range -// @Field: Herr: Filter ground offset state error -// @Field: eAng: Magnitude of angular error -// @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 -// @Field: C: EKF3 core this data is for -// @Field: IX: Innovation in velocity (X-axis) -// @Field: IY: Innovation in velocity (Y-axis) -// @Field: IZ: Innovation in velocity (Z-axis) -// @Field: IVX: Variance in velocity (X-axis) -// @Field: IVY: Variance in velocity (Y-axis) -// @Field: IVZ: Variance in velocity (Z-axis) - -// @LoggerMessage: XKQ -// @Description: EKF3 quaternion defining the rotation from NED to XYZ (autopilot) axes -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: Q1: Quaternion a term -// @Field: Q2: Quaternion b term -// @Field: Q3: Quaternion c term -// @Field: Q4: Quaternion d term - -// @LoggerMessage: XKV1 -// @Description: EKF3 State variances (primary core) -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: V00: Variance for state 0 -// @Field: V01: Variance for state 1 -// @Field: V02: Variance for state 2 -// @Field: V03: Variance for state 3 -// @Field: V04: Variance for state 4 -// @Field: V05: Variance for state 5 -// @Field: V06: Variance for state 6 -// @Field: V07: Variance for state 7 -// @Field: V08: Variance for state 8 -// @Field: V09: Variance for state 9 -// @Field: V10: Variance for state 10 -// @Field: V11: Variance for state 11 - -// @LoggerMessage: XKV2 -// @Description: more EKF3 State Variances (primary core) -// @Field: TimeUS: Time since system startup -// @Field: C: EKF3 core this data is for -// @Field: V12: Variance for state 12 -// @Field: V13: Variance for state 13 -// @Field: V14: Variance for state 14 -// @Field: V15: Variance for state 15 -// @Field: V16: Variance for state 16 -// @Field: V17: Variance for state 17 -// @Field: V18: Variance for state 18 -// @Field: V19: Variance for state 19 -// @Field: V20: Variance for state 20 -// @Field: V21: Variance for state 21 -// @Field: V22: Variance for state 22 -// @Field: V23: Variance for state 23 - // @LoggerMessage: WINC // @Description: Winch // @Field: TimeUS: Time since system startup @@ -2461,27 +2219,6 @@ struct PACKED log_PSC { { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \ "NKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \ { LOG_NKQ_MSG, sizeof(log_Quaternion), "NKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \ - { 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","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), \ - "XKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \ - { LOG_XKF5_MSG, sizeof(log_NKF5), \ - "XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \ - { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \ - "XKF0","QBBccCCcccccccc","TimeUS,C,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","QBffffff","TimeUS,C,IX,IY,IZ,IVX,IVY,IVZ", "s#------", "F-------" }, \ - { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \ - "XKV1","QBffffffffffff","TimeUS,C,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s#------------", "F-------------" }, \ - { LOG_XKV2_MSG, sizeof(log_ekfStateVar), \ - "XKV2","QBffffffffffff","TimeUS,C,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), \