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sdlog2 messages:

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- added ekf2 replay message
This commit is contained in:
tumbili
2016-02-17 14:59:25 +01:00
committed by Lorenz Meier
parent 652fb5e99e
commit 7da3c6ceaa
1 changed files with 46 additions and 3 deletions
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src/modules/sdlog2/sdlog2_messages.h
+46 -3
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@@ -1,7 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -38,6 +37,8 @@
* Log messages and structures definition. * Log messages and structures definition.
* *
* @author Anton Babushkin <anton.babushkin@me.com> * @author Anton Babushkin <anton.babushkin@me.com>
* @author Lorenz Meier <lorenz@px4.io>
* @author Roman Bapst <roman@px4.io>
*/ */
#ifndef SDLOG2_MESSAGES_H_ #ifndef SDLOG2_MESSAGES_H_
@@ -517,6 +518,42 @@ struct log_CAMT_s {
#define LOG_OUT1_MSG 50 #define LOG_OUT1_MSG 50
/* --- EKF2 REPLAY Part 1 --- */
#define LOG_RPL1_MSG 51
struct log_RPL1_s {
uint64_t time_ref;
uint64_t gyro_integral_dt;
uint64_t accelerometer_integral_dt;
uint64_t magnetometer_timestamp;
uint64_t baro_timestamp;
float gyro_integral_x_rad;
float gyro_integral_y_rad;
float gyro_integral_z_rad;
float accelerometer_integral_x_m_s;
float accelerometer_integral_y_m_s;
float accelerometer_integral_z_m_s;
float magnetometer_x_ga;
float magnetometer_y_ga;
float magnetometer_z_ga;
float baro_alt_meter;
};
/* --- EKF2 REPLAY Part 2 --- */
#define LOG_RPL2_MSG 52
struct log_RPL2_s {
uint64_t time_pos_usec;
uint64_t time_vel_usec;
int32_t lat;
int32_t lon;
int32_t alt;
uint8_t fix_type;
float eph;
float epv;
float vel_m_s;
float vel_n_m_s;
float vel_e_m_s;
float vel_d_m_s;
bool vel_ned_valid;
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/ /********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */ /* --- TIME - TIME STAMP --- */
@@ -539,6 +576,9 @@ struct log_PARM_s {
float value; float value;
}; };
// the lower type of initialisation is not supported in C++
#ifndef __cplusplus
#pragma pack(pop) #pragma pack(pop)
/* construct list of all message formats */ /* construct list of all message formats */
static const struct log_format_s log_formats[] = { static const struct log_format_s log_formats[] = {
@@ -593,7 +633,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(TSYN, "Q", "TimeOffset"), LOG_FORMAT(TSYN, "Q", "TimeOffset"),
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"), LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
LOG_FORMAT(CAMT, "QI", "timestamp,seq"), LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
LOG_FORMAT(RPL1, "QQQQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gIx,gIy,gIz,aIx,aIy,aIz,magX,magY,magZ,b_alt"),
LOG_FORMAT(RPL2, "QQLLLMffffffM", "Tpos,Tvel,lat,lon,alt,fix_type,eph,epv,v,vN,vE,vD,v_val"),
/* system-level messages, ID >= 0x80 */ /* 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(TIME, "Q", "StartTime"),
@@ -603,4 +644,6 @@ static const struct log_format_s log_formats[] = {
static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]); static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
#endif
#endif /* SDLOG2_MESSAGES_H_ */ #endif /* SDLOG2_MESSAGES_H_ */