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40 lines
1.4 KiB
40 lines
1.4 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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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: 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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#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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