mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
43 lines
1.4 KiB
C
43 lines
1.4 KiB
C
#pragma once
|
|
|
|
#include <AP_Logger/LogStructure.h>
|
|
|
|
#define LOG_IDS_FROM_COMPASS \
|
|
LOG_MAG_MSG
|
|
|
|
// @LoggerMessage: MAG
|
|
// @Description: Information received from compasses
|
|
// @Field: TimeUS: Time since system startup
|
|
// @Field: I: magnetometer sensor instance number
|
|
// @Field: MagX: magnetic field strength in body frame
|
|
// @Field: MagY: magnetic field strength in body frame
|
|
// @Field: MagZ: magnetic field strength in body frame
|
|
// @Field: OfsX: magnetic field offset in body frame
|
|
// @Field: OfsY: magnetic field offset in body frame
|
|
// @Field: OfsZ: magnetic field offset in body frame
|
|
// @Field: MOX: motor interference magnetic field offset in body frame
|
|
// @Field: MOY: motor interference magnetic field offset in body frame
|
|
// @Field: MOZ: motor interference magnetic field offset in body frame
|
|
// @Field: Health: true if the compass is considered healthy
|
|
// @Field: S: time measurement was taken
|
|
struct PACKED log_MAG {
|
|
LOG_PACKET_HEADER;
|
|
uint64_t time_us;
|
|
uint8_t instance;
|
|
int16_t mag_x;
|
|
int16_t mag_y;
|
|
int16_t mag_z;
|
|
int16_t offset_x;
|
|
int16_t offset_y;
|
|
int16_t offset_z;
|
|
int16_t motor_offset_x;
|
|
int16_t motor_offset_y;
|
|
int16_t motor_offset_z;
|
|
uint8_t health;
|
|
uint32_t SUS;
|
|
};
|
|
|
|
#define LOG_STRUCTURE_FROM_COMPASS \
|
|
{ LOG_MAG_MSG, sizeof(log_MAG), \
|
|
"MAG", "QBhhhhhhhhhBI", "TimeUS,I,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOX,MOY,MOZ,Health,S", "s#GGGGGGGGG-s", "F-CCCCCCCCC-F", true },
|