diff options
Diffstat (limited to 'src/modules/sdlog2/sdlog2_messages.h')
| -rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 52 |
1 files changed, 28 insertions, 24 deletions
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a37437346..595a787d6 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -101,6 +101,8 @@ struct log_LPOS_s { float x; float y; float z; + float ground_dist; + float ground_dist_rate; float vx; float vy; float vz; @@ -110,6 +112,7 @@ struct log_LPOS_s { uint8_t xy_flags; uint8_t z_flags; uint8_t landed; + uint8_t ground_dist_flags; }; /* --- LPSP - LOCAL POSITION SETPOINT --- */ @@ -151,6 +154,7 @@ struct log_ATTC_s { struct log_STAT_s { uint8_t main_state; uint8_t arming_state; + uint8_t failsafe_state; float battery_remaining; uint8_t battery_warning; uint8_t landed; @@ -340,30 +344,30 @@ 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, "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, "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, "BBfBB", "MainState,ArmState,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", "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(DIST, "ffB", "Bottom,BottomRate,Flags"), - LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"), - LOG_FORMAT(PWR, "fffBBBBB", "Periph_5V,Servo_5V,RSSI,USB_OK,BRICK_OK,SRV_OK,PERIPH_OC,HIPWR_OC"), - LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), + 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, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"), + 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,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(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), + LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), + LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ |