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AP_Logger: use instance numbers for logging GPS data

zr-v5.1
Peter Barker 4 years ago committed by Peter Barker
parent
f57082a2e0
commit
a12c2a6b87
2 changed files with 13 additions and 63 deletions
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  1. 8
      libraries/AP_Logger/LogFile.cpp
  2. 68
      libraries/AP_Logger/LogStructure.h

8
libraries/AP_Logger/LogFile.cpp
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@ -142,9 +142,10 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us) @@ -142,9 +142,10 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
float yaw_deg=0, yaw_accuracy_deg=0;
gps.gps_yaw_deg(i, yaw_deg, yaw_accuracy_deg);
const struct log_GPS pkt = {
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
const struct log_GPS pkt {
LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
time_us : time_us,
instance : i,
status : (uint8_t)gps.status(i),
gps_week_ms : gps.time_week_ms(i),
gps_week : gps.time_week(i),
@ -167,8 +168,9 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us) @@ -167,8 +168,9 @@ void AP_Logger::Write_GPS(uint8_t i, uint64_t time_us)
gps.vertical_accuracy(i, vacc);
gps.speed_accuracy(i, sacc);
struct log_GPA pkt2{
LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPA_MSG+i)),
LOG_PACKET_HEADER_INIT(LOG_GPA_MSG),
time_us : time_us,
instance : i,
vdop : gps.get_vdop(i),
hacc : (uint16_t)MIN((hacc*100), UINT16_MAX),
vacc : (uint16_t)MIN((vacc*100), UINT16_MAX),

68
libraries/AP_Logger/LogStructure.h
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@ -207,6 +207,7 @@ struct PACKED log_Error { @@ -207,6 +207,7 @@ struct PACKED log_Error {
struct PACKED log_GPS {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint8_t status;
uint32_t gps_week_ms;
uint16_t gps_week;
@ -225,6 +226,7 @@ struct PACKED log_GPS { @@ -225,6 +226,7 @@ struct PACKED log_GPS {
struct PACKED log_GPA {
LOG_PACKET_HEADER;
uint64_t time_us;
uint8_t instance;
uint16_t vdop;
uint16_t hacc;
uint16_t vacc;
@ -1304,17 +1306,6 @@ struct PACKED log_PSC { @@ -1304,17 +1306,6 @@ struct PACKED log_PSC {
// UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
#define GPA_FMT "QCCCCfBIH"
#define GPA_UNITS "smmmnd-ss"
#define GPA_MULTS "FBBBB0-CC"
// see "struct GPS_State" and "Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U"
#define GPS_FMT "QBIHBcLLeffffB"
#define GPS_UNITS "s---SmDUmnhnh-"
#define GPS_MULTS "F---0BGGB000--"
#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT "QHBBHHQf"
#define ISBH_UNITS "s-----sz"
@ -1595,8 +1586,9 @@ struct PACKED log_PSC { @@ -1595,8 +1586,9 @@ struct PACKED log_PSC {
// @Field: UnitIds: each character refers to a UNIT message. The unit at an offset corresponds to the field at the same offset in FMT.Format
// @Field: MultIds: each character refers to a MULT message. The multiplier at an offset corresponds to the field at the same offset in FMT.Format
// @LoggerMessage: GPA,GPA2
// @LoggerMessage: GPA
// @Description: GPS accuracy information
// @Field: I: GPS instance number
// @Field: TimeUS: Time since system startup
// @Field: VDop: vertical degree of procession
// @Field: HAcc: horizontal position accuracy
@ -1607,42 +1599,10 @@ struct PACKED log_PSC { @@ -1607,42 +1599,10 @@ struct PACKED log_PSC {
// @Field: SMS: time since system startup this sample was taken
// @Field: Delta: system time delta between the last two reported positions
//note: GPAB is a copy of GPA and GPA2!
// @LoggerMessage: GPAB
// @Description: Blended GPS accuracy information
// @Field: TimeUS: Time since system startup
// @Field: VDop: vertical degree of procession
// @Field: HAcc: horizontal position accuracy
// @Field: VAcc: vertical position accuracy
// @Field: SAcc: speed accuracy
// @Field: YAcc: yaw accuracy
// @Field: VV: true if vertical velocity is available
// @Field: SMS: time since system startup this sample was taken
// @Field: Delta: system time delta between the last two reported positions
// @LoggerMessage: GPS,GPS2
// @LoggerMessage: GPS
// @Description: Information received from GNSS systems attached to the autopilot
// @Field: TimeUS: Time since system startup
// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
// @Field: GMS: milliseconds since start of GPS Week
// @Field: GWk: weeks since 5 Jan 1980
// @Field: NSats: number of satellites visible
// @Field: HDop: horizontal precision
// @Field: Lat: latitude
// @Field: Lng: longitude
// @Field: Alt: altitude
// @Field: Spd: ground speed
// @Field: GCrs: ground course
// @Field: VZ: vertical speed
// @Field: Yaw: vehicle yaw
// @Field: U: boolean value indicating whether this GPS is in use
// Note: GPSB is a copy of GPS!
// @LoggerMessage: GPSB
// @Description: Information blended from GNSS systems attached to the autopilot
// @Field: TimeUS: Time since system startup
// @Field: I: GPS instance number
// @Field: Status: GPS Fix type; 2D fix, 3D fix etc.
// @Field: GMS: milliseconds since start of GPS Week
// @Field: GWk: weeks since 5 Jan 1980
@ -2479,17 +2439,9 @@ struct PACKED log_PSC { @@ -2479,17 +2439,9 @@ struct PACKED log_PSC {
{ LOG_PARAMETER_MSG, sizeof(log_Parameter), \
"PARM", "QNf", "TimeUS,Name,Value", "s--", "F--" }, \
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPS2_MSG, sizeof(log_GPS), \
"GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
{ LOG_GPSB_MSG, sizeof(log_GPS), \
"GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#---SmDUmnhnh-", "F----0BGGB000--" }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPA2_MSG, sizeof(log_GPA), \
"GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
{ LOG_GPAB_MSG, sizeof(log_GPA), \
"GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
"GPA", "QBCCCCfBIH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta", "s#mmmnd-ss", "F-BBBB0-CC" }, \
{ LOG_IMU_MSG, sizeof(log_IMU), \
"IMU", "QBffffffIIfBBHH", "TimeUS,I,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz", "s#EEEooo--O--zz", "F-000000-----00" }, \
{ LOG_MESSAGE_MSG, sizeof(log_Message), \
@ -2718,8 +2670,6 @@ enum LogMessages : uint8_t { @@ -2718,8 +2670,6 @@ enum LogMessages : uint8_t {
LOG_XKV2_MSG,
LOG_PARAMETER_MSG,
LOG_GPS_MSG,
LOG_GPS2_MSG,
LOG_GPSB_MSG,
LOG_IMU_MSG,
LOG_MESSAGE_MSG,
LOG_RCIN_MSG,
@ -2772,8 +2722,6 @@ enum LogMessages : uint8_t { @@ -2772,8 +2722,6 @@ enum LogMessages : uint8_t {
LOG_ORGN_MSG,
LOG_RPM_MSG,
LOG_GPA_MSG,
LOG_GPA2_MSG,
LOG_GPAB_MSG,
LOG_RFND_MSG,
LOG_MAV_STATS,
LOG_FORMAT_UNITS_MSG,

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