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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_PrecLand/LogStructure.h
Views: 1798
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#pragma once

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#include <AP_Logger/LogStructure.h>

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#include "AC_PrecLand_config.h"

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#define LOG_IDS_FROM_PRECLAND \

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    LOG_PRECLAND_MSG

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// @LoggerMessage: PL

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// @Description: Precision Landing messages

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// @Field: TimeUS: Time since system startup

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// @Field: Heal: True if Precision Landing is healthy

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// @Field: TAcq: True if landing target is detected

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// @Field: pX: Target position relative to vehicle, X-Axis (0 if target not found)

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// @Field: pY: Target position relative to vehicle, Y-Axis (0 if target not found)

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// @Field: vX: Target velocity relative to vehicle, X-Axis (0 if target not found)

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// @Field: vY: Target velocity relative to vehicle, Y-Axis (0 if target not found)

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// @Field: mX: Target's relative to origin position as 3-D Vector, X-Axis

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// @Field: mY: Target's relative to origin position as 3-D Vector, Y-Axis

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// @Field: mZ: Target's relative to origin position as 3-D Vector, Z-Axis

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// @Field: LastMeasMS: Time when target was last detected

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// @Field: EKFOutl: EKF's outlier count

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// @Field: Est: Type of estimator used

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// precision landing logging

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struct PACKED log_Precland {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t healthy;

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    uint8_t target_acquired;

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    float pos_x;

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    float pos_y;

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    float vel_x;

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    float vel_y;

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    float meas_x;

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    float meas_y;

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    float meas_z;

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    uint32_t last_meas;

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    uint32_t ekf_outcount;

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    uint8_t estimator;

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};

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#if AC_PRECLAND_ENABLED

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#define LOG_STRUCTURE_FROM_PRECLAND                                     \

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    { LOG_PRECLAND_MSG, sizeof(log_Precland),                           \

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      "PL",    "QBBfffffffIIB",    "TimeUS,Heal,TAcq,pX,pY,vX,vY,mX,mY,mZ,LastMeasMS,EKFOutl,Est", "s--mmnnmmms--","F--BBBBBBBC--" , true },

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#else

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#define LOG_STRUCTURE_FROM_PRECLAND

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#endif

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