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372 lines
14 KiB
372 lines
14 KiB
#pragma once |
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#include <AP_Logger/LogStructure.h> |
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#define LOG_IDS_FROM_NAVEKF2 \ |
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LOG_NKF0_MSG, \ |
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LOG_NKF1_MSG, \ |
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LOG_NKF2_MSG, \ |
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LOG_NKF3_MSG, \ |
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LOG_NKF4_MSG, \ |
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LOG_NKF5_MSG, \ |
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LOG_NKQ_MSG, \ |
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LOG_NKT_MSG, \ |
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LOG_NKY0_MSG, \ |
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LOG_NKY1_MSG |
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// @LoggerMessage: NKF0 |
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// @Description: EKF2 beacon sensor diagnostics |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: ID: Beacon sensor ID |
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// @Field: rng: Beacon range |
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// @Field: innov: Beacon range innovation |
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// @Field: SIV: sqrt of beacon range innovation variance |
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// @Field: TR: Beacon range innovation consistency test ratio |
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// @Field: BPN: Beacon north position |
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// @Field: BPE: Beacon east position |
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// @Field: BPD: Beacon down position |
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// @Field: OFH: High estimate of vertical position offset of beacons rel to EKF origin |
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// @Field: OFL: Low estimate of vertical position offset of beacons rel to EKF origin |
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// @Field: OFN: always zero |
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// @Field: OFE: always zero |
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// @Field: OFD: always zero |
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struct PACKED log_NKF0 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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uint8_t ID; // beacon identifier |
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int16_t rng; // beacon range (cm) |
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int16_t innov; // beacon range innovation (cm) |
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uint16_t sqrtInnovVar; // sqrt of beacon range innovation variance (cm) |
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uint16_t testRatio; // beacon range innovation consistency test ratio *100 |
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int16_t beaconPosN; // beacon north position (cm) |
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int16_t beaconPosE; // beacon east position (cm) |
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int16_t beaconPosD; // beacon down position (cm) |
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int16_t offsetHigh; // high estimate of vertical position offset of beacons rel to EKF origin (cm) |
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int16_t offsetLow; // low estimate of vertical position offset of beacons rel to EKF origin (cm) |
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int16_t posN; // North position of receiver rel to EKF origin (cm) |
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int16_t posE; // East position of receiver rel to EKF origin (cm) |
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int16_t posD; // Down position of receiver rel to EKF origin (cm) |
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}; |
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// @LoggerMessage: NKF1 |
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// @Description: EKF2 estimator outputs |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: Roll: Estimated roll |
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// @Field: Pitch: Estimated pitch |
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// @Field: Yaw: Estimated yaw |
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// @Field: VN: Estimated velocity (North component) |
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// @Field: VE: Estimated velocity (East component) |
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// @Field: VD: Estimated velocity (Down component) |
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// @Field: dPD: Filtered derivative of vertical position (down) |
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// @Field: PN: Estimated distance from origin (North component) |
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// @Field: PE: Estimated distance from origin (East component) |
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// @Field: PD: Estimated distance from origin (Down component) |
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// @Field: GX: Estimated gyro bias, X axis |
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// @Field: GY: Estimated gyro bias, Y axis |
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// @Field: GZ: Estimated gyro bias, Z axis |
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// @Field: OH: Height of origin above WGS-84 |
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struct PACKED log_NKF1 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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int16_t roll; |
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int16_t pitch; |
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uint16_t yaw; |
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float velN; |
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float velE; |
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float velD; |
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float posD_dot; |
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float posN; |
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float posE; |
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float posD; |
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int16_t gyrX; |
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int16_t gyrY; |
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int16_t gyrZ; |
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int32_t originHgt; |
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}; |
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// @LoggerMessage: NKF2 |
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// @Description: EKF2 estimator secondary outputs |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: AZbias: Estimated accelerometer Z bias |
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// @Field: GSX: Gyro Scale Factor (X-axis) |
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// @Field: GSY: Gyro Scale Factor (Y-axis) |
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// @Field: GSZ: Gyro Scale Factor (Z-axis) |
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// @Field: VWN: Estimated wind velocity (North component) |
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// @Field: VWE: Estimated wind velocity (East component) |
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// @Field: MN: Magnetic field strength (North component) |
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// @Field: ME: Magnetic field strength (East component) |
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// @Field: MD: Magnetic field strength (Down component) |
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// @Field: MX: Magnetic field strength (body X-axis) |
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// @Field: MY: Magnetic field strength (body Y-axis) |
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// @Field: MZ: Magnetic field strength (body Z-axis) |
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// @Field: MI: Magnetometer used for data |
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struct PACKED log_NKF2 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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int8_t AZbias; |
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int16_t scaleX; |
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int16_t scaleY; |
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int16_t scaleZ; |
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int16_t windN; |
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int16_t windE; |
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int16_t magN; |
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int16_t magE; |
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int16_t magD; |
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int16_t magX; |
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int16_t magY; |
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int16_t magZ; |
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uint8_t index; |
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}; |
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// @LoggerMessage: NKF3 |
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// @Description: EKF2 innovations |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: IVN: Innovation in velocity (North component) |
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// @Field: IVE: Innovation in velocity (East component) |
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// @Field: IVD: Innovation in velocity (Down component) |
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// @Field: IPN: Innovation in position (North component) |
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// @Field: IPE: Innovation in position (East component) |
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// @Field: IPD: Innovation in position (Down component) |
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// @Field: IMX: Innovation in magnetic field strength (X-axis component) |
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// @Field: IMY: Innovation in magnetic field strength (Y-axis component) |
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// @Field: IMZ: Innovation in magnetic field strength (Z-axis component) |
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// @Field: IYAW: Innovation in vehicle yaw |
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// @Field: IVT: Innovation in true-airspeed |
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// @Field: RErr: Accumulated relative error of this core with respect to active primary core |
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// @Field: ErSc: A consolidated error score where higher numbers are less healthy |
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struct PACKED log_NKF3 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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int16_t innovVN; |
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int16_t innovVE; |
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int16_t innovVD; |
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int16_t innovPN; |
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int16_t innovPE; |
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int16_t innovPD; |
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int16_t innovMX; |
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int16_t innovMY; |
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int16_t innovMZ; |
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int16_t innovYaw; |
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int16_t innovVT; |
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float rerr; |
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float errorScore; |
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}; |
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// @LoggerMessage: NKF4 |
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// @Description: EKF2 variances |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: SV: Square root of the velocity variance |
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// @Field: SP: Square root of the position variance |
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// @Field: SH: Square root of the height variance |
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// @Field: SM: Magnetic field variance |
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// @Field: SVT: tilt error convergence metric |
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// @Field: errRP: Filtered error in roll/pitch estimate |
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// @Field: OFN: Most recent position recent magnitude (North component) |
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// @Field: OFE: Most recent position recent magnitude (East component) |
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// @Field: FS: Filter fault status |
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// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement) |
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// @Field: SS: Filter solution status |
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// @Field: GPS: Filter GPS status |
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// @Field: PI: Primary core index |
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struct PACKED log_NKF4 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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int16_t sqrtvarV; |
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int16_t sqrtvarP; |
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int16_t sqrtvarH; |
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int16_t sqrtvarM; |
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int16_t sqrtvarVT; |
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float tiltErr; |
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int8_t offsetNorth; |
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int8_t offsetEast; |
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uint16_t faults; |
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uint8_t timeouts; |
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uint32_t solution; |
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uint16_t gps; |
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int8_t primary; |
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}; |
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// @LoggerMessage: NKF5 |
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// @Description: EKF2 Sensor innovations (primary core) and general dumping ground |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: NI: Normalised flow variance |
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// @Field: FIX: Optical flow LOS rate vector innovations from the main nav filter (X-axis) |
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// @Field: FIY: Optical flow LOS rate vector innovations from the main nav filter (Y-axis) |
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// @Field: AFI: Optical flow LOS rate innovation from terrain offset estimator |
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// @Field: HAGL: Height above ground level |
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// @Field: offset: Estimated vertical position of the terrain relative to the nav filter zero datum |
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// @Field: RI: Range finder innovations |
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// @Field: rng: Measured range |
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// @Field: Herr: Filter ground offset state error |
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// @Field: eAng: Magnitude of angular error |
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// @Field: eVel: Magnitude of velocity error |
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// @Field: ePos: Magnitude of position error |
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struct PACKED log_NKF5 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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uint8_t normInnov; |
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int16_t FIX; |
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int16_t FIY; |
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int16_t AFI; |
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int16_t HAGL; |
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int16_t offset; |
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int16_t RI; |
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uint16_t meaRng; |
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uint16_t errHAGL; |
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float angErr; |
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float velErr; |
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float posErr; |
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}; |
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// @LoggerMessage: NKQ |
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// @Description: EKF2 quaternion defining the rotation from NED to XYZ (autopilot) axes |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: Q1: Quaternion a term |
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// @Field: Q2: Quaternion b term |
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// @Field: Q3: Quaternion c term |
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// @Field: Q4: Quaternion d term |
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struct PACKED log_NKQ { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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float q1; |
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float q2; |
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float q3; |
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float q4; |
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}; |
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// @LoggerMessage: NKT |
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// @Description: EKF2 timing information |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF core this message instance applies to |
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// @Field: Cnt: count of samples used to create this message |
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// @Field: IMUMin: smallest IMU sample interval |
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// @Field: IMUMax: largest IMU sample interval |
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// @Field: EKFMin: low-passed achieved average time step rate for the EKF (minimum) |
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// @Field: EKFMax: low-passed achieved average time step rate for the EKF (maximum) |
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// @Field: AngMin: accumulated measurement time interval for the delta angle (minimum) |
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// @Field: AngMax: accumulated measurement time interval for the delta angle (maximum) |
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// @Field: VMin: accumulated measurement time interval for the delta velocity (minimum) |
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// @Field: VMax: accumulated measurement time interval for the delta velocity (maximum) |
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struct PACKED log_NKT { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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uint32_t timing_count; |
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float dtIMUavg_min; |
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float dtIMUavg_max; |
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float dtEKFavg_min; |
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float dtEKFavg_max; |
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float delAngDT_min; |
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float delAngDT_max; |
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float delVelDT_min; |
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float delVelDT_max; |
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}; |
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// @LoggerMessage: NKY0 |
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// @Description: EKF2 Yaw Estimator States |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: YC: GSF yaw estimate (rad) |
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// @Field: YCS: GSF yaw estimate 1-Sigma uncertainty (rad) |
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// @Field: Y0: Yaw estimate from individual EKF filter 0 (rad) |
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// @Field: Y1: Yaw estimate from individual EKF filter 1 (rad) |
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// @Field: Y2: Yaw estimate from individual EKF filter 2 (rad) |
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// @Field: Y3: Yaw estimate from individual EKF filter 3 (rad) |
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// @Field: Y4: Yaw estimate from individual EKF filter 4 (rad) |
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// @Field: W0: Weighting applied to yaw estimate from individual EKF filter 0 |
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// @Field: W1: Weighting applied to yaw estimate from individual EKF filter 1 |
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// @Field: W2: Weighting applied to yaw estimate from individual EKF filter 2 |
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// @Field: W3: Weighting applied to yaw estimate from individual EKF filter 3 |
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// @Field: W4: Weighting applied to yaw estimate from individual EKF filter 4 |
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struct PACKED log_NKY0 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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float yaw_composite; |
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float yaw_composite_variance; |
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float yaw0; |
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float yaw1; |
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float yaw2; |
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float yaw3; |
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float yaw4; |
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float wgt0; |
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float wgt1; |
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float wgt2; |
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float wgt3; |
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float wgt4; |
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}; |
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// @LoggerMessage: NKY1 |
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// @Description: EKF2 Yaw Estimator Innovations |
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// @Field: TimeUS: Time since system startup |
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// @Field: C: EKF2 core this data is for |
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// @Field: IVN0: North velocity innovation from individual EKF filter 0 (m/s) |
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// @Field: IVN1: North velocity innovation from individual EKF filter 1 (m/s) |
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// @Field: IVN2: North velocity innovation from individual EKF filter 2 (m/s) |
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// @Field: IVN3: North velocity innovation from individual EKF filter 3 (m/s) |
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// @Field: IVN4: North velocity innovation from individual EKF filter 4 (m/s) |
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// @Field: IVE0: East velocity innovation from individual EKF filter 0 (m/s) |
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// @Field: IVE1: East velocity innovation from individual EKF filter 1 (m/s) |
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// @Field: IVE2: East velocity innovation from individual EKF filter 2 (m/s) |
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// @Field: IVE3: East velocity innovation from individual EKF filter 3 (m/s) |
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// @Field: IVE4: East velocity innovation from individual EKF filter 4 (m/s) |
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struct PACKED log_NKY1 { |
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LOG_PACKET_HEADER; |
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uint64_t time_us; |
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uint8_t core; |
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float ivn0; |
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float ivn1; |
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float ivn2; |
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float ivn3; |
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float ivn4; |
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float ive0; |
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float ive1; |
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float ive2; |
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float ive3; |
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float ive4; |
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}; |
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#define LOG_STRUCTURE_FROM_NAVEKF2 \ |
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{ LOG_NKF0_MSG, sizeof(log_NKF0), \ |
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"NKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \ |
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{ LOG_NKF1_MSG, sizeof(log_NKF1), \ |
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"NKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \ |
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{ LOG_NKF2_MSG, sizeof(log_NKF2), \ |
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"NKF2","QBbccccchhhhhhB","TimeUS,C,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#----nnGGGGGG-", "F-----BBCCCCCC-" }, \ |
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{ LOG_NKF3_MSG, sizeof(log_NKF3), \ |
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"NKF3","QBcccccchhhccff","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT,RErr,ErSc", "s#nnnmmmGGG??--", "F-BBBBBBCCCBB00" }, \ |
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{ LOG_NKF4_MSG, sizeof(log_NKF4), \ |
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"NKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \ |
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{ LOG_NKF5_MSG, sizeof(log_NKF5), \ |
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"NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \ |
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{ LOG_NKQ_MSG, sizeof(log_NKQ), "NKQ", "QBffff", "TimeUS,C,Q1,Q2,Q3,Q4", "s#????", "F-????" }, \ |
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{ LOG_NKT_MSG, sizeof(log_NKT), \ |
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"NKT", "QBIffffffff", "TimeUS,C,Cnt,IMUMin,IMUMax,EKFMin,EKFMax,AngMin,AngMax,VMin,VMax", "s#sssssssss", "F-000000000"}, \ |
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{ LOG_NKY0_MSG, sizeof(log_NKY0), \ |
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"NKY0", "QBffffffffffff", "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4", "s#rrrrrrr-----", "F-000000000000"}, \ |
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{ LOG_NKY1_MSG, sizeof(log_NKY1), \ |
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"NKY1", "QBffffffffff", "TimeUS,C,IVN0,IVN1,IVN2,IVN3,IVN4,IVE0,IVE1,IVE2,IVE3,IVE4", "s#nnnnnnnnnn", "F-0000000000"},
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