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delete sdlog2
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
83fd5a5fd1
commit
8537863848
@@ -1,46 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE modules__sdlog2
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MAIN sdlog2
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PRIORITY "SCHED_PRIORITY_MAX-30"
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STACK_MAIN 1200
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STACK_MAX 1600
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COMPILE_FLAGS
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-Wno-sign-compare # TODO: fix all sign-compare
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SRCS
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sdlog2.c
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logbuffer.c
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DEPENDS
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)
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@@ -1,165 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* are met:
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||||
*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file logbuffer.c
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*
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* Ring FIFO buffer for binary log data.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#include <px4_defines.h>
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#include <string.h>
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#include <stdlib.h>
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#include "logbuffer.h"
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int logbuffer_init(struct logbuffer_s *lb, int size)
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{
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lb->size = size;
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lb->write_ptr = 0;
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lb->read_ptr = 0;
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lb->data = NULL;
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lb->perf_dropped = perf_alloc(PC_COUNT, "sd drop");
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return PX4_OK;
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}
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int logbuffer_count(struct logbuffer_s *lb)
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{
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int n = lb->write_ptr - lb->read_ptr;
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if (n < 0) {
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n += lb->size;
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}
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return n;
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}
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int logbuffer_is_empty(struct logbuffer_s *lb)
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{
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return lb->read_ptr == lb->write_ptr;
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}
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bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
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{
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// allocate buffer if not yet present
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if (lb->data == NULL) {
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lb->data = malloc(lb->size);
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}
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// allocation failed, bail out
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if (lb->data == NULL) {
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return false;
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}
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// bytes available to write
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int available = lb->read_ptr - lb->write_ptr - 1;
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if (available < 0) {
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available += lb->size;
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}
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if (size > available) {
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// buffer overflow
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perf_count(lb->perf_dropped);
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return false;
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}
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char *c = (char *) ptr;
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int n = lb->size - lb->write_ptr; // bytes to end of the buffer
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if (n < size) {
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// message goes over end of the buffer
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memcpy(&(lb->data[lb->write_ptr]), c, n);
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lb->write_ptr = 0;
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} else {
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n = 0;
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}
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// now: n = bytes already written
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int p = size - n; // number of bytes to write
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memcpy(&(lb->data[lb->write_ptr]), &(c[n]), p);
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lb->write_ptr = (lb->write_ptr + p) % lb->size;
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return true;
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}
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int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part)
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{
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// bytes available to read
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int available = lb->write_ptr - lb->read_ptr;
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if (available == 0) {
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return 0; // buffer is empty
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}
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int n = 0;
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if (available > 0) {
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// read pointer is before write pointer, all available bytes can be read
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n = available;
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*is_part = false;
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} else {
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// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
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n = lb->size - lb->read_ptr;
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*is_part = lb->write_ptr > 0;
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}
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*ptr = &(lb->data[lb->read_ptr]);
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return n;
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}
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void logbuffer_mark_read(struct logbuffer_s *lb, int n)
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{
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lb->read_ptr = (lb->read_ptr + n) % lb->size;
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}
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void logbuffer_free(struct logbuffer_s *lb)
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{
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if (lb->data) {
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free(lb->data);
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lb->write_ptr = 0;
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lb->read_ptr = 0;
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lb->data = NULL;
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perf_free(lb->perf_dropped);
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}
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}
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void logbuffer_reset(struct logbuffer_s *lb)
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{
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// Keep the buffer but reset the pointers.
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lb->write_ptr = 0;
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lb->read_ptr = 0;
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}
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@@ -1,74 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2013 PX4 Development Team. All rights reserved.
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* Author: Anton Babushkin <anton.babushkin@me.com>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file logbuffer.h
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*
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* Ring FIFO buffer for binary log data.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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*/
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#ifndef SDLOG2_RINGBUFFER_H_
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#define SDLOG2_RINGBUFFER_H_
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#include <stdbool.h>
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#include <perf/perf_counter.h>
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struct logbuffer_s {
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// pointers and size are in bytes
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int write_ptr;
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int read_ptr;
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int size;
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char *data;
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perf_counter_t perf_dropped;
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};
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int logbuffer_init(struct logbuffer_s *lb, int size);
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int logbuffer_count(struct logbuffer_s *lb);
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int logbuffer_is_empty(struct logbuffer_s *lb);
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bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size);
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int logbuffer_get_ptr(struct logbuffer_s *lb, void **ptr, bool *is_part);
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void logbuffer_mark_read(struct logbuffer_s *lb, int n);
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void logbuffer_free(struct logbuffer_s *lb);
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void logbuffer_reset(struct logbuffer_s *lb);
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#endif
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@@ -1,95 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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/**
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* Logging rate.
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*
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* A value of -1 indicates the commandline argument
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* should be obeyed. A value of 0 sets the minimum rate,
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* any other value is interpreted as rate in Hertz. This
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* parameter is only read out before logging starts (which
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* commonly is before arming).
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*
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* @unit Hz
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* @min -1
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* @max 250
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_RATE, -1);
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/**
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* Extended logging mode
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*
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* A value of -1 indicates the command line argument
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* should be obeyed. A value of 0 disables extended
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* logging mode, a value of 1 enables it. This
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* parameter is only read out before logging starts
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* (which commonly is before arming).
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*
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* @min -1
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* @max 1
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* @value -1 Command Line
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* @value 0 Disable
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* @value 1 Enable
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_EXT, -1);
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/**
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* Use timestamps only if GPS 3D fix is available
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*
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* Constrain the log folder creation
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* to only use the time stamp if a 3D GPS lock is
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* present.
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*
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* @boolean
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_GPSTIME, 1);
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/**
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* Give logging app higher thread priority to avoid data loss.
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* This is used for gathering replay logs for the ekf2 module.
|
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*
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* A value of 0 indicates that the default priority is used.
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* Increasing the parameter in steps of one increases the priority.
|
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*
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* @min 0
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* @max 3
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* @value 0 Low priority
|
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* @value 1 Default priority
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* @value 2 Medium priority
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* @value 3 Max priority
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* @group SD Logging
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*/
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PARAM_DEFINE_INT32(SDLOG_PRIO_BOOST, 2);
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File diff suppressed because it is too large
Load Diff
@@ -1,106 +0,0 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Anton Babushkin <anton.babushkin@me.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sdlog2_format.h
|
||||
*
|
||||
* General log format structures and macro.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
*/
|
||||
|
||||
/*
|
||||
Format characters in the format string for binary log messages
|
||||
b : int8_t
|
||||
B : uint8_t
|
||||
h : int16_t
|
||||
H : uint16_t
|
||||
i : int32_t
|
||||
I : uint32_t
|
||||
f : float
|
||||
n : char[4]
|
||||
N : char[16]
|
||||
Z : char[64]
|
||||
c : int16_t * 100
|
||||
C : uint16_t * 100
|
||||
e : int32_t * 100
|
||||
E : uint32_t * 100
|
||||
L : int32_t latitude/longitude
|
||||
M : uint8_t flight mode
|
||||
|
||||
q : int64_t
|
||||
Q : uint64_t
|
||||
*/
|
||||
|
||||
#ifndef SDLOG2_FORMAT_H_
|
||||
#define SDLOG2_FORMAT_H_
|
||||
|
||||
#define LOG_PACKET_HEADER_LEN 3
|
||||
#define LOG_PACKET_HEADER uint8_t head1, head2, msg_type
|
||||
#define LOG_PACKET_HEADER_INIT(id) .head1 = HEAD_BYTE1, .head2 = HEAD_BYTE2, .msg_type = id
|
||||
|
||||
// once the logging code is all converted we will remove these from
|
||||
// this header
|
||||
#define HEAD_BYTE1 0xA3 // Decimal 163
|
||||
#define HEAD_BYTE2 0x95 // Decimal 149
|
||||
|
||||
struct log_format_s {
|
||||
uint8_t type;
|
||||
uint8_t length; // full packet length including header
|
||||
char name[4];
|
||||
char format[16];
|
||||
char labels[64];
|
||||
};
|
||||
|
||||
#define LOG_FORMAT(_name, _format, _labels) { \
|
||||
.type = LOG_##_name##_MSG, \
|
||||
.length = sizeof(struct log_##_name##_s) + LOG_PACKET_HEADER_LEN, \
|
||||
.name = #_name, \
|
||||
.format = _format, \
|
||||
.labels = _labels \
|
||||
}
|
||||
|
||||
#define LOG_FORMAT_S(_name, _struct_name, _format, _labels) { \
|
||||
.type = LOG_##_name##_MSG, \
|
||||
.length = sizeof(struct log_##_struct_name##_s) + LOG_PACKET_HEADER_LEN, \
|
||||
.name = #_name, \
|
||||
.format = _format, \
|
||||
.labels = _labels \
|
||||
}
|
||||
|
||||
#define LOG_FORMAT_MSG 0x80
|
||||
|
||||
#define LOG_PACKET_SIZE(_name) LOG_PACKET_HEADER_LEN + sizeof(struct log_##_name##_s)
|
||||
|
||||
#endif /* SDLOG2_FORMAT_H_ */
|
||||
@@ -1,656 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file sdlog2_messages.h
|
||||
*
|
||||
* Log messages and structures definition.
|
||||
*
|
||||
* @author Anton Babushkin <anton.babushkin@me.com>
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
* @author Roman Bapst <roman@px4.io>
|
||||
*/
|
||||
|
||||
#ifndef SDLOG2_MESSAGES_H_
|
||||
#define SDLOG2_MESSAGES_H_
|
||||
|
||||
#include "sdlog2_format.h"
|
||||
|
||||
/* define message formats */
|
||||
|
||||
#pragma pack(push, 1)
|
||||
/* --- ATT - ATTITUDE --- */
|
||||
#define LOG_ATT_MSG 2
|
||||
struct log_ATT_s {
|
||||
float q_w;
|
||||
float q_x;
|
||||
float q_y;
|
||||
float q_z;
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
float roll_rate;
|
||||
float pitch_rate;
|
||||
float yaw_rate;
|
||||
};
|
||||
|
||||
/* --- ATSP - ATTITUDE SET POINT --- */
|
||||
#define LOG_ATSP_MSG 3
|
||||
struct log_ATSP_s {
|
||||
float roll_sp;
|
||||
float pitch_sp;
|
||||
float yaw_sp;
|
||||
float thrust_sp;
|
||||
float q_w;
|
||||
float q_x;
|
||||
float q_y;
|
||||
float q_z;
|
||||
};
|
||||
|
||||
/* --- IMU - IMU SENSORS --- */
|
||||
#define LOG_IMU_MSG 4
|
||||
#define LOG_IMU1_MSG 22
|
||||
#define LOG_IMU2_MSG 23
|
||||
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;
|
||||
float temp_acc;
|
||||
float temp_gyro;
|
||||
float temp_mag;
|
||||
};
|
||||
|
||||
/* --- SENS - OTHER SENSORS --- */
|
||||
#define LOG_SENS_MSG 5
|
||||
struct log_SENS_s {
|
||||
float baro_pres;
|
||||
float baro_alt;
|
||||
float baro_temp;
|
||||
};
|
||||
|
||||
/* --- LPOS - LOCAL POSITION --- */
|
||||
#define LOG_LPOS_MSG 6
|
||||
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 pos_flags;
|
||||
uint8_t ground_dist_flags;
|
||||
float eph;
|
||||
float epv;
|
||||
};
|
||||
|
||||
/* --- LPSP - LOCAL POSITION SETPOINT --- */
|
||||
#define LOG_LPSP_MSG 7
|
||||
struct log_LPSP_s {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
float yaw;
|
||||
float vx;
|
||||
float vy;
|
||||
float vz;
|
||||
float acc_x;
|
||||
float acc_y;
|
||||
float acc_z;
|
||||
};
|
||||
|
||||
/* --- GPS - GPS POSITION --- */
|
||||
#define LOG_GPS_MSG 8
|
||||
#define LOG_DGPS_MSG 58
|
||||
struct log_GPS_s {
|
||||
uint64_t gps_time;
|
||||
uint8_t fix_type;
|
||||
float eph;
|
||||
float epv;
|
||||
int32_t lat;
|
||||
int32_t lon;
|
||||
float alt;
|
||||
float vel_n;
|
||||
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)--- */
|
||||
#define LOG_ATTC_MSG 9
|
||||
#define LOG_ATC1_MSG 46
|
||||
struct log_ATTC_s {
|
||||
float roll;
|
||||
float pitch;
|
||||
float yaw;
|
||||
float thrust;
|
||||
};
|
||||
|
||||
/* --- STAT - VEHICLE STATE --- */
|
||||
#define LOG_STAT_MSG 10
|
||||
struct log_STAT_s {
|
||||
uint8_t main_state;
|
||||
uint8_t nav_state;
|
||||
uint8_t arming_state;
|
||||
uint8_t failsafe;
|
||||
uint8_t is_rot_wing;
|
||||
};
|
||||
|
||||
/* --- RC - RC INPUT CHANNELS --- */
|
||||
#define LOG_RC_MSG 11
|
||||
struct log_RC_s {
|
||||
float channel[12];
|
||||
uint8_t rssi;
|
||||
uint8_t channel_count;
|
||||
uint8_t signal_lost;
|
||||
uint32_t frame_drop;
|
||||
};
|
||||
|
||||
/* --- OUT - ACTUATOR OUTPUT --- */
|
||||
#define LOG_OUT0_MSG 12
|
||||
struct log_OUT_s {
|
||||
float output[8];
|
||||
};
|
||||
|
||||
/* --- AIRS - AIRSPEED --- */
|
||||
#define LOG_AIRS_MSG 13
|
||||
struct log_AIRS_s {
|
||||
float indicated_airspeed_m_s;
|
||||
float true_airspeed_m_s;
|
||||
float true_airspeed_unfiltered_m_s;
|
||||
float air_temperature_celsius;
|
||||
float confidence;
|
||||
};
|
||||
|
||||
/* --- ARSP - ATTITUDE RATE SET POINT --- */
|
||||
#define LOG_ARSP_MSG 14
|
||||
struct log_ARSP_s {
|
||||
float roll_rate_sp;
|
||||
float pitch_rate_sp;
|
||||
float yaw_rate_sp;
|
||||
};
|
||||
|
||||
/* --- FLOW - OPTICAL FLOW --- */
|
||||
#define LOG_FLOW_MSG 15
|
||||
struct log_FLOW_s {
|
||||
uint8_t sensor_id;
|
||||
float pixel_flow_x_integral;
|
||||
float pixel_flow_y_integral;
|
||||
float gyro_x_rate_integral;
|
||||
float gyro_y_rate_integral;
|
||||
float gyro_z_rate_integral;
|
||||
float ground_distance_m;
|
||||
uint32_t integration_timespan;
|
||||
uint32_t time_since_last_sonar_update;
|
||||
uint16_t frame_count_since_last_readout;
|
||||
int16_t gyro_temperature;
|
||||
uint8_t quality;
|
||||
};
|
||||
|
||||
/* --- GPOS - GLOBAL POSITION ESTIMATE --- */
|
||||
#define LOG_GPOS_MSG 16
|
||||
struct log_GPOS_s {
|
||||
int32_t lat;
|
||||
int32_t lon;
|
||||
float alt;
|
||||
float vel_n;
|
||||
float vel_e;
|
||||
float vel_d;
|
||||
float eph;
|
||||
float epv;
|
||||
float terrain_alt;
|
||||
};
|
||||
|
||||
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
|
||||
#define LOG_GPSP_MSG 17
|
||||
struct log_GPSP_s {
|
||||
int32_t lat;
|
||||
int32_t lon;
|
||||
float alt;
|
||||
float yaw;
|
||||
uint8_t type;
|
||||
float loiter_radius;
|
||||
int8_t loiter_direction;
|
||||
float pitch_min;
|
||||
};
|
||||
|
||||
/* --- ESC - ESC STATE --- */
|
||||
#define LOG_ESC_MSG 18
|
||||
struct log_ESC_s {
|
||||
uint16_t counter;
|
||||
uint8_t esc_count;
|
||||
uint8_t esc_connectiontype;
|
||||
uint8_t esc_num;
|
||||
uint16_t esc_address;
|
||||
uint16_t esc_version;
|
||||
float esc_voltage;
|
||||
float esc_current;
|
||||
int32_t esc_rpm;
|
||||
float esc_temperature;
|
||||
float esc_setpoint;
|
||||
uint16_t esc_setpoint_raw;
|
||||
};
|
||||
|
||||
/* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
|
||||
#define LOG_GVSP_MSG 19
|
||||
struct log_GVSP_s {
|
||||
float vx;
|
||||
float vy;
|
||||
float vz;
|
||||
};
|
||||
|
||||
/* --- BATT - BATTERY --- */
|
||||
#define LOG_BATT_MSG 20
|
||||
struct log_BATT_s {
|
||||
float voltage;
|
||||
float voltage_filtered;
|
||||
float current;
|
||||
float current_filtered;
|
||||
float discharged;
|
||||
float remaining;
|
||||
float scale;
|
||||
uint8_t warning;
|
||||
};
|
||||
|
||||
/* --- DIST - RANGE SENSOR DISTANCE --- */
|
||||
#define LOG_DIST_MSG 21
|
||||
struct log_DIST_s {
|
||||
uint8_t id;
|
||||
uint8_t type;
|
||||
uint8_t orientation;
|
||||
float current_distance;
|
||||
float covariance;
|
||||
};
|
||||
|
||||
/* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
|
||||
|
||||
|
||||
/* --- 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;
|
||||
};
|
||||
|
||||
/* --- MOCP - MOCAP ATTITUDE AND POSITION --- */
|
||||
#define LOG_MOCP_MSG 25
|
||||
struct log_MOCP_s {
|
||||
float qw;
|
||||
float qx;
|
||||
float qy;
|
||||
float qz;
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
};
|
||||
|
||||
/* --- 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 altitudeFiltered;
|
||||
float flightPathAngleSp;
|
||||
float flightPathAngle;
|
||||
float airspeedSp;
|
||||
float airspeedFiltered;
|
||||
float airspeedDerivativeSp;
|
||||
float airspeedDerivative;
|
||||
float totalEnergyError;
|
||||
float totalEnergyRateError;
|
||||
float energyDistributionError;
|
||||
float energyDistributionRateError;
|
||||
float pitch_integ;
|
||||
float throttle_integ;
|
||||
|
||||
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;
|
||||
uint16_t fault_flags;
|
||||
uint8_t timeout_flags;
|
||||
};
|
||||
|
||||
/* --- EST1 - ESTIMATOR STATUS --- */
|
||||
#define LOG_EST1_MSG 33
|
||||
struct log_EST1_s {
|
||||
float s[16];
|
||||
};
|
||||
|
||||
/* --- EST2 - ESTIMATOR STATUS --- */
|
||||
#define LOG_EST2_MSG 34
|
||||
struct log_EST2_s {
|
||||
float cov[12];
|
||||
uint16_t gps_check_fail_flags;
|
||||
uint16_t control_mode_flags;
|
||||
uint8_t health_flags;
|
||||
uint16_t innov_test_flags;
|
||||
};
|
||||
|
||||
/* --- EST3 - ESTIMATOR STATUS --- */
|
||||
#define LOG_EST3_MSG 35
|
||||
struct log_EST3_s {
|
||||
float cov[16];
|
||||
};
|
||||
|
||||
/* --- TEL0..3 - TELEMETRY STATUS --- */
|
||||
#define LOG_TEL0_MSG 36
|
||||
#define LOG_TEL1_MSG 37
|
||||
#define LOG_TEL2_MSG 38
|
||||
#define LOG_TEL3_MSG 39
|
||||
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;
|
||||
};
|
||||
|
||||
/* --- VISN - VISION POSITION --- */
|
||||
#define LOG_VISN_MSG 40
|
||||
struct log_VISN_s {
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
float vx;
|
||||
float vy;
|
||||
float vz;
|
||||
float qw;
|
||||
float qx;
|
||||
float qy;
|
||||
float qz;
|
||||
};
|
||||
|
||||
/* --- ENCODERS - ENCODER DATA --- */
|
||||
#define LOG_ENCD_MSG 41
|
||||
struct log_ENCD_s {
|
||||
int64_t cnt0;
|
||||
float vel0;
|
||||
int64_t cnt1;
|
||||
float vel1;
|
||||
};
|
||||
|
||||
/* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
|
||||
#define LOG_AIR1_MSG 42
|
||||
|
||||
/* --- VTOL - VTOL VEHICLE STATUS */
|
||||
#define LOG_VTOL_MSG 43
|
||||
struct log_VTOL_s {
|
||||
uint8_t rw_mode;
|
||||
uint8_t trans_mode;
|
||||
uint8_t failsafe_mode;
|
||||
};
|
||||
|
||||
/* --- TIMESYNC - TIME SYNCHRONISATION OFFSET */
|
||||
#define LOG_TSYN_MSG 44
|
||||
struct log_TSYN_s {
|
||||
uint64_t time_offset;
|
||||
};
|
||||
|
||||
/* --- MACS - MULTIROTOR ATTITUDE CONTROLLER STATUS */
|
||||
#define LOG_MACS_MSG 45
|
||||
struct log_MACS_s {
|
||||
float roll_rate_integ;
|
||||
float pitch_rate_integ;
|
||||
float yaw_rate_integ;
|
||||
};
|
||||
|
||||
/* WARNING: ID 46 is already in use for ATTC1 */
|
||||
|
||||
/* --- CONTROL STATE --- */
|
||||
#define LOG_CTS_MSG 47
|
||||
struct log_CTS_s {
|
||||
float vx_body;
|
||||
float vy_body;
|
||||
float vz_body;
|
||||
float airspeed;
|
||||
float roll_rate;
|
||||
float pitch_rate;
|
||||
float yaw_rate;
|
||||
};
|
||||
|
||||
/* --- EST4 - ESTIMATOR INNOVATIONS --- */
|
||||
#define LOG_EST4_MSG 48
|
||||
struct log_EST4_s {
|
||||
float s[15];
|
||||
};
|
||||
|
||||
/* --- EST5 - ESTIMATOR INNOVATIONS --- */
|
||||
#define LOG_EST5_MSG 49
|
||||
struct log_EST5_s {
|
||||
float s[12];
|
||||
};
|
||||
|
||||
#define LOG_OUT1_MSG 50
|
||||
|
||||
/* --- EST6 - ESTIMATOR INNOVATIONS --- */
|
||||
#define LOG_EST6_MSG 53
|
||||
struct log_EST6_s {
|
||||
float s[6];
|
||||
};
|
||||
|
||||
/* --- CAMERA TRIGGER --- */
|
||||
#define LOG_CAMT_MSG 55
|
||||
struct log_CAMT_s {
|
||||
uint64_t timestamp;
|
||||
uint32_t seq;
|
||||
};
|
||||
|
||||
/* --- LAND DETECTOR --- */
|
||||
#define LOG_LAND_MSG 57
|
||||
struct log_LAND_s {
|
||||
uint8_t landed;
|
||||
};
|
||||
|
||||
/* 58 used for DGPS message
|
||||
shares struct with GPS MSG 8*/
|
||||
|
||||
/* --- SYSTEM LOAD --- */
|
||||
#define LOG_LOAD_MSG 61
|
||||
struct log_LOAD_s {
|
||||
float cpu_load;
|
||||
};
|
||||
|
||||
/* --- DPRS - DIFFERENTIAL PRESSURE --- */
|
||||
#define LOG_DPRS_MSG 62
|
||||
struct log_DPRS_s {
|
||||
uint64_t error_count;
|
||||
float differential_pressure_raw_pa;
|
||||
float differential_pressure_filtered_pa;
|
||||
float temperature;
|
||||
};
|
||||
|
||||
/* --- LOW STACK --- */
|
||||
#define LOG_STCK_MSG 63
|
||||
struct log_STCK_s {
|
||||
char task_name[16];
|
||||
uint16_t stack_free;
|
||||
};
|
||||
|
||||
/********** SYSTEM MESSAGES, ID > 0x80 **********/
|
||||
|
||||
/* --- TIME - TIME STAMP --- */
|
||||
#define LOG_TIME_MSG 129
|
||||
struct log_TIME_s {
|
||||
uint64_t t;
|
||||
};
|
||||
|
||||
/* --- VER - VERSION --- */
|
||||
#define LOG_VER_MSG 130
|
||||
struct log_VER_s {
|
||||
char arch[16];
|
||||
char fw_git[64];
|
||||
};
|
||||
|
||||
/* --- PARM - PARAMETER --- */
|
||||
#define LOG_PARM_MSG 131
|
||||
struct log_PARM_s {
|
||||
char name[64];
|
||||
float value;
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
// the lower type of initialisation is not supported in C++
|
||||
#ifndef __cplusplus
|
||||
|
||||
/* construct list of all message formats */
|
||||
static const struct log_format_s log_formats[] = {
|
||||
/* business-level messages, ID < 0x80 */
|
||||
LOG_FORMAT(ATT, "ffffffffff", "qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate"),
|
||||
LOG_FORMAT(ATSP, "ffffffff", "RollSP,PitchSP,YawSP,ThrustSP,qw,qx,qy,qz"),
|
||||
LOG_FORMAT_S(IMU, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
|
||||
LOG_FORMAT_S(IMU1, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
|
||||
LOG_FORMAT_S(IMU2, IMU, "ffffffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ,tA,tG,tM"),
|
||||
LOG_FORMAT_S(SENS, SENS, "fff", "BaroPres,BaroAlt,BaroTemp"),
|
||||
LOG_FORMAT_S(AIR1, SENS, "fffff", "BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
|
||||
LOG_FORMAT(LPOS, "ffffffffLLfBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),
|
||||
LOG_FORMAT(LPSP, "ffffffffff", "X,Y,Z,Yaw,VX,VY,VZ,AX,AY,AZ"),
|
||||
LOG_FORMAT(GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
|
||||
LOG_FORMAT_S(DGPS, GPS, "QBffLLfffffBHHH", "GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
|
||||
LOG_FORMAT_S(ATTC, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
|
||||
LOG_FORMAT_S(ATC1, ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),
|
||||
LOG_FORMAT(STAT, "BBBBB", "MainState,NavState,ArmS,Failsafe,IsRotWing"),
|
||||
LOG_FORMAT(VTOL, "fBBB", "Arsp,RwMode,TransMode,Failsafe"),
|
||||
LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
|
||||
LOG_FORMAT(RC, "ffffffffffffBBBL", "C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
|
||||
LOG_FORMAT_S(OUT0, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
|
||||
LOG_FORMAT_S(OUT1, OUT, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
|
||||
LOG_FORMAT(AIRS, "fffff", "IAS,TAS,TASraw,Temp,Confidence"),
|
||||
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
|
||||
LOG_FORMAT(FLOW, "BffffffLLHhB", "ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
|
||||
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
|
||||
LOG_FORMAT(GPSP, "LLffBfbf", "Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
|
||||
LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
|
||||
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
|
||||
LOG_FORMAT(BATT, "fffffffB", "V,VFilt,C,CFilt,Discharged,Remaining,Scale,Warning"),
|
||||
LOG_FORMAT(DIST, "BBBff", "Id,Type,Orientation,Distance,Covariance"),
|
||||
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, "ffffffffffffBBHB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fFault,fTOut"),
|
||||
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
|
||||
LOG_FORMAT(EST2, "ffffffffffffHHBH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth,IC"),
|
||||
LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),
|
||||
LOG_FORMAT(EST4, "fffffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV,e1,e2,e3"),
|
||||
LOG_FORMAT(EST5, "ffffffffffff", "MaxI,MayI,MazI,MaxIV,MayIV,MazIV,HeI,HeIV,AiI,AiIV,BeI,BeIV"),
|
||||
LOG_FORMAT(EST6, "ffffff", "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
|
||||
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
|
||||
LOG_FORMAT(MOCP, "fffffff", "QuatW,QuatX,QuatY,QuatZ,X,Y,Z"),
|
||||
LOG_FORMAT(VISN, "ffffffffff", "X,Y,Z,VX,VY,VZ,QuatW,QuatX,QuatY,QuatZ"),
|
||||
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", "ASP,AF,FSP,F,AsSP,AsF,AsDSP,AsD,EE,ERE,EDE,EDRE,PtchI,ThrI,M"),
|
||||
LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"),
|
||||
LOG_FORMAT(ENCD, "qfqf", "cnt0,vel0,cnt1,vel1"),
|
||||
LOG_FORMAT(TSYN, "Q", "TimeOffset"),
|
||||
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
|
||||
LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
|
||||
LOG_FORMAT(LAND, "B", "Landed"),
|
||||
LOG_FORMAT(LOAD, "f", "CPU"),
|
||||
LOG_FORMAT(DPRS, "Qfff", "errors,DPRESraw,DPRES,Temp"),
|
||||
LOG_FORMAT(STCK, "NH", "Task,Free"),
|
||||
/* system-level messages, ID >= 0x80 */
|
||||
/* 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, "Zf", "Name,Value")
|
||||
};
|
||||
|
||||
static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
|
||||
|
||||
#endif
|
||||
|
||||
#endif /* SDLOG2_MESSAGES_H_ */
|
||||
@@ -152,18 +152,6 @@ PARAM_DEFINE_INT32(SYS_COMPANION, 157600);
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_PARAM_VER, 1);
|
||||
|
||||
/**
|
||||
* SD logger
|
||||
*
|
||||
* @value 0 sdlog2 (legacy)
|
||||
* @value 1 logger (default)
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @reboot_required true
|
||||
* @group System
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SYS_LOGGER, 1);
|
||||
|
||||
/**
|
||||
* Enable stack checking
|
||||
*
|
||||
|
||||
Reference in New Issue
Block a user