/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sdlog2_messages.h
*
* Log messages and structures definition.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#ifndef SDLOG2_MESSAGES_H_
#define SDLOG2_MESSAGES_H_
#include "sdlog2_format.h"
/* define message formats */
#pragma pack(push, 1)
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
struct log_ATT_s {
float q_w;
float q_x;
float q_y;
float q_z;
float roll;
float pitch;
float yaw;
float roll_rate;
float pitch_rate;
float yaw_rate;
float gx;
float gy;
float gz;
};
/* --- ATSP - ATTITUDE SET POINT --- */
#define LOG_ATSP_MSG 3
struct log_ATSP_s {
float roll_sp;
float pitch_sp;
float yaw_sp;
float thrust_sp;
float q_w;
float q_x;
float q_y;
float q_z;
};
/* --- IMU - IMU SENSORS --- */
#define LOG_IMU_MSG 4
#define LOG_IMU1_MSG 22
#define LOG_IMU2_MSG 23
struct log_IMU_s {
float acc_x;
float acc_y;
float acc_z;
float gyro_x;
float gyro_y;
float gyro_z;
float mag_x;
float mag_y;
float mag_z;
float temp_acc;
float temp_gyro;
float temp_mag;
};
/* --- SENS - OTHER SENSORS --- */
#define LOG_SENS_MSG 5
struct log_SENS_s {
float baro_pres;
float baro_alt;
float baro_temp;
float diff_pres;
float diff_pres_filtered;
};
/* --- LPOS - LOCAL POSITION --- */
#define LOG_LPOS_MSG 6
struct log_LPOS_s {
float x;
float y;
float z;
float ground_dist;
float ground_dist_rate;
float vx;
float vy;
float vz;
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
uint8_t pos_flags;
uint8_t ground_dist_flags;
float eph;
float epv;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
#define LOG_LPSP_MSG 7
struct log_LPSP_s {
float x;
float y;
float z;
float yaw;
float vx;
float vy;
float vz;
float acc_x;
float acc_y;
float acc_z;
};
/* --- GPS - GPS POSITION --- */
#define LOG_GPS_MSG 8
struct log_GPS_s {
uint64_t gps_time;
uint8_t fix_type;
float eph;
float epv;
int32_t lat;
int32_t lon;
float alt;
float vel_n;
float vel_e;
float vel_d;
float cog;
uint8_t sats;
uint16_t snr_mean;
uint16_t noise_per_ms;
uint16_t jamming_indicator;
};
/* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
#define LOG_ATTC_MSG 9
#define LOG_ATC1_MSG 40
struct log_ATTC_s {
float roll;
float pitch;
float yaw;
float thrust;
};
/* --- STAT - VEHICLE STATE --- */
#define LOG_STAT_MSG 10
struct log_STAT_s {
uint8_t main_state;
uint8_t arming_state;
uint8_t failsafe;
float battery_remaining;
uint8_t battery_warning;
uint8_t landed;
float load;
};
/* --- RC - RC INPUT CHANNELS --- */
#define LOG_RC_MSG 11
struct log_RC_s {
float channel[8];
uint8_t channel_count;
uint8_t signal_lost;
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
#define LOG_OUT0_MSG 12
struct log_OUT0_s {
float output[8];
};
/* --- AIRS - AIRSPEED --- */
#define LOG_AIRS_MSG 13
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
float air_temperature_celsius;
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
#define LOG_ARSP_MSG 14
struct log_ARSP_s {
float roll_rate_sp;
float pitch_rate_sp;
float yaw_rate_sp;
};
/* --- FLOW - OPTICAL FLOW --- */
#define LOG_FLOW_MSG 15
struct log_FLOW_s {
uint64_t timestamp;
uint8_t sensor_id;
float pixel_flow_x_integral;
float pixel_flow_y_integral;
float gyro_x_rate_integral;
float gyro_y_rate_integral;
float gyro_z_rate_integral;
float ground_distance_m;
uint32_t integration_timespan;
uint32_t time_since_last_sonar_update;
uint16_t frame_count_since_last_readout;
int16_t gyro_temperature;
uint8_t quality;
};
/* --- GPOS - GLOBAL POSITION ESTIMATE --- */
#define LOG_GPOS_MSG 16
struct log_GPOS_s {
int32_t lat;
int32_t lon;
float alt;
float vel_n;
float vel_e;
float vel_d;
float eph;
float epv;
float terrain_alt;
};
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t nav_state;
int32_t lat;
int32_t lon;
float alt;
float yaw;
uint8_t type;
float loiter_radius;
int8_t loiter_direction;
float pitch_min;
};
/* --- ESC - ESC STATE --- */
#define LOG_ESC_MSG 18
struct log_ESC_s {
uint16_t counter;
uint8_t esc_count;
uint8_t esc_connectiontype;
uint8_t esc_num;
uint16_t esc_address;
uint16_t esc_version;
float esc_voltage;
float esc_current;
int32_t esc_rpm;
float esc_temperature;
float esc_setpoint;
uint16_t esc_setpoint_raw;
};
/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
#define LOG_GVSP_MSG 19
struct log_GVSP_s {
float vx;
float vy;
float vz;
};
/* --- BATT - BATTERY --- */
#define LOG_BATT_MSG 20
struct log_BATT_s {
float voltage;
float voltage_filtered;
float current;
float discharged;
};
/* --- DIST - DISTANCE TO SURFACE --- */
#define LOG_DIST_MSG 21
struct log_DIST_s {
float bottom;
float bottom_rate;
uint8_t flags;
};
/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
struct log_PWR_s {
float peripherals_5v;
float servo_rail_5v;
float servo_rssi;
uint8_t usb_ok;
uint8_t brick_ok;
uint8_t servo_ok;
uint8_t low_power_rail_overcurrent;
uint8_t high_power_rail_overcurrent;
};
/* --- VICN - VICON POSITION --- */
#define LOG_VICN_MSG 25
struct log_VICN_s {
float x;
float y;
float z;
float roll;
float pitch;
float yaw;
};
/* --- GS0A - GPS SNR #0, SAT GROUP A --- */
#define LOG_GS0A_MSG 26
struct log_GS0A_s {
uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
};
/* --- GS0B - GPS SNR #0, SAT GROUP B --- */
#define LOG_GS0B_MSG 27
struct log_GS0B_s {
uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
};
/* --- GS1A - GPS SNR #1, SAT GROUP A --- */
#define LOG_GS1A_MSG 28
struct log_GS1A_s {
uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
};
/* --- GS1B - GPS SNR #1, SAT GROUP B --- */
#define LOG_GS1B_MSG 29
struct log_GS1B_s {
uint8_t satellite_snr[16]; /**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
};
/* --- TECS - TECS STATUS --- */
#define LOG_TECS_MSG 30
struct log_TECS_s {
float altitudeSp;
float altitudeFiltered;
float flightPathAngleSp;
float flightPathAngle;
float flightPathAngleFiltered;
float airspeedSp;
float airspeedFiltered;
float airspeedDerivativeSp;
float airspeedDerivative;
float totalEnergyRateSp;
float totalEnergyRate;
float energyDistributionRateSp;
float energyDistributionRate;
uint8_t mode;
};
/* --- WIND - WIND ESTIMATE --- */
#define LOG_WIND_MSG 31
struct log_WIND_s {
float x;
float y;
float cov_x;
float cov_y;
};
/* --- EST0 - ESTIMATOR STATUS --- */
#define LOG_EST0_MSG 32
struct log_EST0_s {
float s[12];
uint8_t n_states;
uint8_t nan_flags;
uint8_t health_flags;
uint8_t timeout_flags;
};
/* --- EST1 - ESTIMATOR STATUS --- */
#define LOG_EST1_MSG 33
struct log_EST1_s {
float s[16];
};
/* --- TEL0..3 - TELEMETRY STATUS --- */
#define LOG_TEL0_MSG 34
#define LOG_TEL1_MSG 35
#define LOG_TEL2_MSG 36
#define LOG_TEL3_MSG 37
struct log_TEL_s {
uint8_t rssi;
uint8_t remote_rssi;
uint8_t noise;
uint8_t remote_noise;
uint16_t rxerrors;
uint16_t fixed;
uint8_t txbuf;
uint64_t heartbeat_time;
};
/* --- VISN - VISION POSITION --- */
#define LOG_VISN_MSG 38
struct log_VISN_s {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float qx;
float qy;
float qz;
float qw;
};
/* --- ENCODERS - ENCODER DATA --- */
#define LOG_ENCD_MSG 39
struct log_ENCD_s {
int64_t cnt0;
float vel0;
int64_t cnt1;
float vel1;
};
/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
#define LOG_AIR1_MSG 41
/* --- VTOL - VTOL VEHICLE STATUS */
#define LOG_VTOL_MSG 42
struct log_VTOL_s {
float airspeed_tot;
};
/* --- TIMESYNC - TIME SYNCHRONISATION OFFSET */
#define LOG_TSYN_MSG 43
struct log_TSYN_s {
uint64_t time_offset;
};
/* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */
#define LOG_MACS_MSG 44
struct log_MACS_s {
float roll_rate_integ;
float pitch_rate_integ;
float yaw_rate_integ;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
#define LOG_TIME_MSG 129
struct log_TIME_s {
uint64_t t;
};
/* --- VER - VERSION --- */
#define LOG_VER_MSG 130
struct log_VER_s {
char arch[16];
char fw_git[64];
};
/* --- PARM - PARAMETER --- */
#define LOG_PARM_MSG 131
struct log_PARM_s {
char name[16];
float value;
};
#pragma pack(pop)
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
/* business-level messages, ID < 0x80 */
LOG_FORMAT(ATT, "fffffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
LOG_FORMAT(ATSP, "ffffffff", "RollSP,PitchSP,YawSP,ThrustSP,qw,qx,qy,qz"),
LOG_FORMAT_S(IMU, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU1, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(IMU2, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
LOG_FORMAT_S(SENS, SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT_S(AIR1, SENS, "fffff", "BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
LOG_FORMAT(LPOS, "ffffffffLLfBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),
LOG_FORMAT(LPSP, "ffffffffff", "X,Y,Z,Yaw,VX,VY,VZ,AX,AY,AZ"),
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBfBBf", "MainState,ArmS,Failsafe,BatRem,BatWarn,Landed,Load"),
LOG_FORMAT(VTOL, "f", "Arsp"),
LOG_FORMAT(RC, "ffffffffBB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "QBffffffLLHhB", "IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
LOG_FORMAT(TECS, "fffffffffffffB", "ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
LOG_FORMAT(TSYN, "Q", "TimeOffset"),
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
/* system-level messages, ID >= 0x80 */
/* FMT: don't write format of format message, it's useless */
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value")
};
static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
#endif /* SDLOG2_MESSAGES_H_ */
