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109 lines
4.2 KiB
109 lines
4.2 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_NKT_MSG, \ |
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LOG_NKY0_MSG, \ |
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LOG_NKY1_MSG |
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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_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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