/****************************************************************************
*
* 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)
/* --- TIME - TIME STAMP --- */
#define LOG_TIME_MSG 1
struct log_TIME_s {
uint64_t t;
};
/* --- ATT - ATTITUDE --- */
#define LOG_ATT_MSG 2
struct log_ATT_s {
float roll;
float pitch;
float yaw;
float roll_rate;
float pitch_rate;
float yaw_rate;
float roll_acc;
float pitch_acc;
float yaw_acc;
};
/* --- 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;
};
/* --- IMU - IMU SENSORS --- */
#define LOG_IMU_MSG 4
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;
};
/* --- SENS - OTHER SENSORS --- */
#define LOG_SENS_MSG 5
struct log_SENS_s {
float baro_pres;
float baro_alt;
float baro_temp;
float diff_pres;
};
/* --- LPOS - LOCAL POSITION --- */
#define LOG_LPOS_MSG 6
struct log_LPOS_s {
float x;
float y;
float z;
float vx;
float vy;
float vz;
float hdg;
int32_t home_lat;
int32_t home_lon;
float home_alt;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
#define LOG_LPSP_MSG 7
struct log_LPSP_s {
float x;
float y;
float z;
float yaw;
};
/* --- 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;
};
/* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
#define LOG_ATTC_MSG 9
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 state;
uint8_t flight_mode;
uint8_t manual_control_mode;
uint8_t manual_sas_mode;
uint8_t armed;
float battery_voltage;
float battery_current;
float battery_remaining;
uint8_t battery_warning;
};
/* --- CTRL - CONTROL DEBUG --- */
#define LOG_CTRL_MSG 11
struct log_CTRL_s {
float roll_p;
float roll_i;
float roll_d;
float roll_rate_p;
float roll_rate_i;
float roll_rate_d;
float pitch_p;
float pitch_i;
float pitch_d;
float pitch_rate_p;
float pitch_rate_i;
float pitch_rate_d;
};
/* --- RC - RC INPUT CHANNELS --- */
#define LOG_RC_MSG 12
struct log_RC_s {
float channel[8];
};
/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
#define LOG_OUT0_MSG 13
struct log_OUT0_s {
float output[8];
};
/* --- AIRS - AIRSPEED --- */
#define LOG_AIRS_MSG 14
struct log_AIRS_s {
float indicated_airspeed;
float true_airspeed;
};
/* --- ARSP - ATTITUDE RATE SET POINT --- */
#define LOG_ARSP_MSG 15
struct log_ARSP_s {
float roll_rate_sp;
float pitch_rate_sp;
float yaw_rate_sp;
};
/* --- FLOW - OPTICAL FLOW --- */
#define LOG_FLOW_MSG 16
struct log_FLOW_s {
int16_t flow_raw_x;
int16_t flow_raw_y;
float flow_comp_x;
float flow_comp_y;
float distance;
uint8_t quality;
uint8_t sensor_id;
};
/* --- 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;
};
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
#define LOG_GPSP_MSG 17
struct log_GPSP_s {
uint8_t altitude_is_relative;
int32_t lat;
int32_t lon;
float altitude;
float yaw;
float loiter_radius;
int8_t loiter_direction;
uint8_t nav_cmd;
float param1;
float param2;
float param3;
float param4;
};
/* --- 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;
uint16_t esc_voltage;
uint16_t esc_current;
uint16_t esc_rpm;
uint16_t esc_temperature;
float esc_setpoint;
uint16_t esc_setpoint_raw;
};
#pragma pack(pop)
/* construct list of all message formats */
static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(ATT, "fffffffff", "Roll,Pitch,Yaw,RollR,PitchR,YawR,RollA,PitchA,YawA"),
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "ffff", "BaroPres,BaroAlt,BaroTemp,DiffPres"),
LOG_FORMAT(LPOS, "fffffffLLf", "X,Y,Z,VX,VY,VZ,Heading,HomeLat,HomeLon,HomeAlt"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
LOG_FORMAT(STAT, "BBBBBfffB", "State,FlightMode,CtlMode,SASMode,Armed,BatV,BatC,BatRem,BatWarn"),
LOG_FORMAT(CTRL, "ffffffffffff", "RP,RI,RD,RRP,RRI,RRD,PP,PI,PD,PRP,PRI,PRD"),
LOG_FORMAT(RC, "ffffffff", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7"),
LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
LOG_FORMAT(AIRS, "ff", "IndSpeed,TrueSpeed"),
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
LOG_FORMAT(GPOS, "LLffff", "Lat,Lon,Alt,VelN,VelE,VelD"),
LOG_FORMAT(GPSP, "BLLfffbBffff", "AltRel,Lat,Lon,Alt,Yaw,LoiterR,LoiterDir,NavCmd,P1,P2,P3,P4"),
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "Counter,NumESC,Conn,No,Version,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);
#endif /* SDLOG2_MESSAGES_H_ */