diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 218 |
1 files changed, 186 insertions, 32 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a784a1f30..87f7f718f 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -57,6 +57,9 @@ struct log_ATT_s { float roll_rate; float pitch_rate; float yaw_rate; + float gx; + float gy; + float gz; }; /* --- ATSP - ATTITUDE SET POINT --- */ @@ -89,6 +92,7 @@ struct log_SENS_s { float baro_alt; float baro_temp; float diff_pres; + float diff_pres_filtered; }; /* --- LPOS - LOCAL POSITION --- */ @@ -97,15 +101,19 @@ 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 xy_flags; - uint8_t z_flags; + uint8_t pos_flags; uint8_t landed; + uint8_t ground_dist_flags; + float eph; + float epv; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -131,6 +139,10 @@ struct log_GPS_s { 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)--- */ @@ -146,8 +158,8 @@ struct log_ATTC_s { #define LOG_STAT_MSG 10 struct log_STAT_s { uint8_t main_state; - uint8_t navigation_state; uint8_t arming_state; + uint8_t failsafe_state; float battery_remaining; uint8_t battery_warning; uint8_t landed; @@ -158,6 +170,7 @@ struct log_STAT_s { struct log_RC_s { float channel[8]; uint8_t channel_count; + uint8_t signal_lost; }; /* --- OUT0 - ACTUATOR_0 OUTPUT --- */ @@ -171,6 +184,7 @@ struct log_OUT0_s { struct log_AIRS_s { float indicated_airspeed; float true_airspeed; + float air_temperature_celsius; }; /* --- ARSP - ATTITUDE RATE SET POINT --- */ @@ -202,23 +216,22 @@ struct log_GPOS_s { float vel_n; float vel_e; float vel_d; + float eph; + float epv; }; /* --- GPSP - GLOBAL POSITION SETPOINT --- */ #define LOG_GPSP_MSG 17 struct log_GPSP_s { - uint8_t altitude_is_relative; + uint8_t nav_state; int32_t lat; int32_t lon; - float altitude; + float alt; float yaw; + uint8_t type; float loiter_radius; int8_t loiter_direction; - uint8_t nav_cmd; - float param1; - float param2; - float param3; - float param4; + float pitch_min; }; /* --- ESC - ESC STATE --- */ @@ -255,6 +268,131 @@ struct log_BATT_s { float discharged; }; +/* --- DIST - DISTANCE TO SURFACE --- */ +#define LOG_DIST_MSG 21 +struct log_DIST_s { + float bottom; + float bottom_rate; + uint8_t flags; +}; + +// ID 22 available +// ID 23 available + +/* --- 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 altitude; + float flightPathAngleSp; + float flightPathAngle; + float flightPathAngleFiltered; + float airspeedSp; + float airspeed; + 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; +}; + + +/********** SYSTEM MESSAGES, ID > 0x80 **********/ + /* --- TIME - TIME STAMP --- */ #define LOG_TIME_MSG 129 struct log_TIME_s { @@ -280,32 +418,48 @@ struct log_PARM_s { /* construct list of all message formats */ static const struct log_format_s log_formats[] = { /* business-level messages, ID < 0x80 */ - LOG_FORMAT(ATT, "ffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"), - 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, "ffffffLLfBBB", "X,Y,Z,VX,VY,VZ,RefLat,RefLon,RefAlt,XYFlags,ZFlags,Landed"), - 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, "BBBfBB", "MainState,NavState,ArmState,BatRem,BatWarn,Landed"), - LOG_FORMAT(RC, "ffffffffB", "Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count"), - 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,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(ATT, "fffffffff", "Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"), + LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"), + LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"), + LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"), + LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"), + LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"), + LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"), + LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"), + LOG_FORMAT(STAT, "BBBfBB", "MainState,ArmState,FailsafeState,BatRem,BatWarn,Landed"), + 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, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"), + LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), + LOG_FORMAT(ESC, "HBBBHHHHHHfH", "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(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, "ffffffffffffffB", "AltSP,Alt,FSP,F,FF,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"), + LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), + /* system-level messages, ID >= 0x80 */ - // FMT: don't write format of format message, it's useless + /* 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"), + LOG_FORMAT(PARM, "Nf", "Name,Value") }; -static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s); +static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]); #endif /* SDLOG2_MESSAGES_H_ */ |