yaozb
4 years ago
17 changed files with 4004 additions and 3458 deletions
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# Logger Notes |
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## Format Types |
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The format type specifies the amount of storage required for the entry |
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and how the content should be interpreted. |
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|
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| Char | C Type | |
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|------|--------| |
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|a | int16_t[32]| |
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|b | int8_t| |
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|B | uint8_t| |
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|h | int16_t| |
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|H | uint16_t| |
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|i | int32_t| |
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|I | uint32_t| |
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|f | float| |
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|d | double| |
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|n | char[4]| |
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|N | char[16]| |
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|Z | char[64]| |
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|L | int32_t latitude/longitude (so -35.1332423 becomes -351332423)| |
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|M | uint8_t flight mode| |
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|q | int64_t| |
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|Q | uint64_t| |
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|
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Legacy field types - do not use. These have been replaced by using the base C type and an appropriate multiplier column entry. |
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|
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| Char | CType+Mult | |
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|------|--------------| |
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| c | int16_t * 100| |
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| C | uint16_t * 100| |
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| e | int32_t * 100| |
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| E | uint32_t * 100| |
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|
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## Units |
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|
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All units here should be base units |
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This does mean battery capacity is here as "amp*second" |
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Please keep the names consistent with Tools/autotest/param_metadata/param.py:33 |
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|
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| Char | Unit Abbrev. | Description | |
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|-----|---|---| |
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| '-' | "" | no units e.g. Pi | or a string| |
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| '?' | "UNKNOWN" | Units which haven't been worked out yet....| |
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| 'A' | "A" | Ampere| |
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| 'd' | "deg" | of the angular variety | -180 to 180| |
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| 'b' | "B" | bytes| |
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| 'k' | "deg/s" | degrees per second. Degrees are NOT SI | but is some situations more user-friendly than radians| |
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| 'D' | "deglatitude" | degrees of latitude| |
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| 'e' | "deg/s/s" | degrees per second per second. Degrees are NOT SI | but is some situations more user-friendly than radians| |
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| 'E' | "rad/s" | radians per second| |
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| 'G' | "Gauss" | Gauss is not an SI unit | but 1 tesla = 10000 gauss so a simple replacement is not possible here| |
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| 'h' | "degheading" | 0.? to 359.?| |
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| 'i' | "A.s" | Ampere second| |
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| 'J' | "W.s" | Joule (Watt second)| |
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| 'l' | "l" | litres| |
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| 'L' | "rad/s/s" | radians per second per second| |
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| 'm' | "m" | metres| |
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| 'n' | "m/s" | metres per second| |
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| 'N' | "N" | Newton| |
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| 'o' | "m/s/s" | metres per second per second| |
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| 'O' | "degC" | degrees Celsius. Not SI | but Kelvin is too cumbersome for most users| |
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| '%' | "%" | percent| |
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| 'S' | "satellites" | number of satellites| |
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| 's' | "s" | seconds| |
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| 'q' | "rpm" | rounds per minute. Not SI | but sometimes more intuitive than Hertz| |
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| 'r' | "rad" | radians| |
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| 'U' | "deglongitude" | degrees of longitude| |
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| 'u' | "ppm" | pulses per minute| |
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| 'v' | "V" | Volt| |
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| 'P' | "Pa" | Pascal| |
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| 'w' | "Ohm" | Ohm| |
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| 'Y' | "us" | pulse width modulation in microseconds| |
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| 'z' | "Hz" | Hertz| |
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| '#' | "instance" | (e.g.)Sensor instance number| |
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|
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## Multipliers |
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|
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This multiplier information applies to the raw value present in the |
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log. Any adjustment implied by the format field (e.g. the "centi" |
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in "centidegrees" is *IGNORED* for the purposes of scaling. |
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Essentially "format" simply tells you the C-type, and format-type h |
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(int16_t) is equivalent to format-type c (int16_t*100) |
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tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name |
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|
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| Char | Multiplier | |
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|------|------------| |
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| '-' | 0 | // no multiplier e.g. a string| |
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| '?' | 1 | // multipliers which haven't been worked out yet....| |
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| '2' | 1e2 || |
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| '1' | 1e1 || |
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| '0' | 1e0 || |
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| 'A' | 1e-1 || |
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| 'B' | 1e-2 || |
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| 'C' | 1e-3 || |
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| 'D' | 1e-4 || |
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| 'E' | 1e-5 || |
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| 'F' | 1e-6 || |
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| 'G' | 1e-7 || |
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| '!' | 3.6 | // (ampere*second => milliampere*hour) and (km/h => m/s)| |
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| '/' | 3600 | // (ampere*second => ampere*hour)| |
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# Logger Notes |
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|
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## Format Types |
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|
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The format type specifies the amount of storage required for the entry |
||||
and how the content should be interpreted. |
||||
|
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| Char | C Type | |
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|------|--------| |
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|a | int16_t[32]| |
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|b | int8_t| |
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|B | uint8_t| |
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|h | int16_t| |
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|H | uint16_t| |
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|i | int32_t| |
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|I | uint32_t| |
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|f | float| |
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|d | double| |
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|n | char[4]| |
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|N | char[16]| |
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|Z | char[64]| |
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|L | int32_t latitude/longitude (so -35.1332423 becomes -351332423)| |
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|M | uint8_t flight mode| |
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|q | int64_t| |
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|Q | uint64_t| |
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|
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Legacy field types - do not use. These have been replaced by using the base C type and an appropriate multiplier column entry. |
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|
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| Char | CType+Mult | |
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|------|--------------| |
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| c | int16_t * 100| |
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| C | uint16_t * 100| |
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| e | int32_t * 100| |
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| E | uint32_t * 100| |
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|
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## Units |
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|
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All units here should be base units |
||||
This does mean battery capacity is here as "amp*second" |
||||
Please keep the names consistent with Tools/autotest/param_metadata/param.py:33 |
||||
|
||||
| Char | Unit Abbrev. | Description | |
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|-----|---|---| |
||||
| '-' | "" | no units e.g. Pi | or a string| |
||||
| '?' | "UNKNOWN" | Units which haven't been worked out yet....| |
||||
| 'A' | "A" | Ampere| |
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| 'd' | "deg" | of the angular variety | -180 to 180| |
||||
| 'b' | "B" | bytes| |
||||
| 'k' | "deg/s" | degrees per second. Degrees are NOT SI | but is some situations more user-friendly than radians| |
||||
| 'D' | "deglatitude" | degrees of latitude| |
||||
| 'e' | "deg/s/s" | degrees per second per second. Degrees are NOT SI | but is some situations more user-friendly than radians| |
||||
| 'E' | "rad/s" | radians per second| |
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| 'G' | "Gauss" | Gauss is not an SI unit | but 1 tesla = 10000 gauss so a simple replacement is not possible here| |
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| 'h' | "degheading" | 0.? to 359.?| |
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| 'i' | "A.s" | Ampere second| |
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| 'J' | "W.s" | Joule (Watt second)| |
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| 'l' | "l" | litres| |
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| 'L' | "rad/s/s" | radians per second per second| |
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| 'm' | "m" | metres| |
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| 'n' | "m/s" | metres per second| |
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| 'N' | "N" | Newton| |
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| 'o' | "m/s/s" | metres per second per second| |
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| 'O' | "degC" | degrees Celsius. Not SI | but Kelvin is too cumbersome for most users| |
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| '%' | "%" | percent| |
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| 'S' | "satellites" | number of satellites| |
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| 's' | "s" | seconds| |
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| 'q' | "rpm" | rounds per minute. Not SI | but sometimes more intuitive than Hertz| |
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| 'r' | "rad" | radians| |
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| 'U' | "deglongitude" | degrees of longitude| |
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| 'u' | "ppm" | pulses per minute| |
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| 'v' | "V" | Volt| |
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| 'P' | "Pa" | Pascal| |
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| 'w' | "Ohm" | Ohm| |
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| 'Y' | "us" | pulse width modulation in microseconds| |
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| 'z' | "Hz" | Hertz| |
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| '#' | "instance" | (e.g.)Sensor instance number| |
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|
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## Multipliers |
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|
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This multiplier information applies to the raw value present in the |
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log. Any adjustment implied by the format field (e.g. the "centi" |
||||
in "centidegrees" is *IGNORED* for the purposes of scaling. |
||||
Essentially "format" simply tells you the C-type, and format-type h |
||||
(int16_t) is equivalent to format-type c (int16_t*100) |
||||
tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name |
||||
|
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| Char | Multiplier | |
||||
|------|------------| |
||||
| '-' | 0 | // no multiplier e.g. a string| |
||||
| '?' | 1 | // multipliers which haven't been worked out yet....| |
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| '2' | 1e2 || |
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| '1' | 1e1 || |
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| '0' | 1e0 || |
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| 'A' | 1e-1 || |
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| 'B' | 1e-2 || |
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| 'C' | 1e-3 || |
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| 'D' | 1e-4 || |
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| 'E' | 1e-5 || |
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| 'F' | 1e-6 || |
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| 'G' | 1e-7 || |
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| '!' | 3.6 | // (ampere*second => milliampere*hour) and (km/h => m/s)| |
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| '/' | 3600 | // (ampere*second => ampere*hour)| |
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|
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@ -0,0 +1,27 @@
@@ -0,0 +1,27 @@
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# |
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# Generic zrzk camera status. |
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# |
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uint8 id |
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uint6 mode #delete |
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uint2 usb_enable |
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uint8 shutter_speed |
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uint8 error_code |
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uint8 NONE = 0 |
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uint8 SHUTTER_SPEED_DONE = 1 |
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uint8 FORMAT_DONE = 2 |
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uint8 GIMBAL_DONE = 4 |
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uint8 ERROR_FIX_DONE = 8 |
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uint8 feedback_code |
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float16 temperature |
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uint16 trigger_num |
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uint16[<=5] camera_photo_number |
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#uint8[<40] message |
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@ -0,0 +1,17 @@
@@ -0,0 +1,17 @@
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# |
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# Generic zr camera status. |
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# |
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uint8 id |
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uint8 mode |
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# |
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# Camera axis orientation in body frame (not in fixed frame). |
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# Please refer to the UAVCAN coordinate frame conventions. |
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# |
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uint8[12] software_version |
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uint8[12] hardware_version |
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uint8[15] camera_sn |
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uint8[15] camera_name |
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@ -0,0 +1,27 @@
@@ -0,0 +1,27 @@
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# |
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# Generic zr camera commond. |
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# |
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uint8 id |
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uint8 CAM_RECOVER = 11 |
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uint8 TAKE_PHOTO = 12 |
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uint8 SHATTER_SPEED = 13 |
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uint8 GIMBAL_CONTROL = 15 |
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uint8 ERROR_FIX = 16 |
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uint8 FORMAT = 17 |
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uint8 GET_PHOTO_NUMBER = 18 |
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uint8 GET_CAMERA_VERSION = 19 |
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uint8 command_mode |
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# |
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# Camera axis orientation in body frame (not in fixed frame). |
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# Please refer to the UAVCAN coordinate frame conventions. |
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# |
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uint8 command_1 |
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uint8 command_2 |
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uint8 command_3 |
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uint8 command_4 |
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@ -0,0 +1,21 @@
@@ -0,0 +1,21 @@
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# |
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# Generic zr camera commond. |
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# |
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uint8 id |
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# |
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#0x01 cam1 |
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#0x02 cam2 |
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#0x04 cam3 |
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#0x08 cam4 |
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#0x10 cam5 |
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# |
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uint8 camera_photoed |
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uint16 index |
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uint16[<=5] camera_photo_number |
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# |
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# Camera axis orientation in body frame (not in fixed frame). |
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# Please refer to the UAVCAN coordinate frame conventions. |
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# |
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