New messages added to sdlog2

1 files changed, 64 insertions, 13 deletions

diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index ae98ea038..0bc999e24 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -47,13 +47,13 @@
 
 /* define message formats */
 
-/* === 1: TS - TIME STAMP === */
-#define LOG_TS_MSG 1
-struct log_TS_s {
+/* --- TIME - TIME STAMP --- */
+#define LOG_TIME_MSG 1
+struct log_TIME_s {
 	uint64_t t;
 };
 
-/* === 2: ATT - ATTITUDE === */
+/* --- ATT - ATTITUDE --- */
 #define LOG_ATT_MSG 2
 struct log_ATT_s {
 	float roll;
@@ -61,20 +61,71 @@ struct log_ATT_s {
 	float yaw;
 };
 
-/* === 3: RAW - SENSORS === */
-#define LOG_RAW_MSG 3
-struct log_RAW_s {
-	float accX;
-	float accY;
-	float accZ;
+/* --- ATSP - ATTITUDE SET POINT --- */
+#define LOG_ATSP_MSG 3
+struct log_ATSP_s {
+	float roll_sp;
+	float pitch_sp;
+	float yaw_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;
+};
+
+/* --- LPOS - LOCAL POSITION SETPOINT --- */
+#define LOG_LPSP_MSG 7
+struct log_LPSP_s {
+	float x;
+	float y;
+	float z;
+	float yaw;
 };
 
 /* construct list of all message formats */
 
 static const struct log_format_s log_formats[] = {
-	LOG_FORMAT(TS, "Q", "t"),
-	LOG_FORMAT(ATT, "fff", "roll,pitch,yaw"),
-	LOG_FORMAT(RAW, "fff", "accX,accY,accZ"),
+	LOG_FORMAT(TIME, "Q", "t"),
+	LOG_FORMAT(ATT, "fff", "Roll,Pitch,Yaw"),
+	LOG_FORMAT(ATSP, "fff", "RollSP,PitchSP,YawSP"),
+	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"),
 };
 
 static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);