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

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#include <AP_Logger/LogStructure.h>

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#define LOG_IDS_FROM_BARO \

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    LOG_BARO_MSG, \

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    LOG_BARD_MSG

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// @LoggerMessage: BARO

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// @Description: Gathered Barometer data

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// @Field: TimeUS: Time since system startup

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// @Field: I: barometer sensor instance number

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// @Field: Alt: calculated altitude

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// @Field: AltAMSL: altitude AMSL

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// @Field: Press: measured atmospheric pressure

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// @Field: Temp: measured atmospheric temperature

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// @Field: CRt: derived climb rate from primary barometer

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// @Field: SMS: time last sample was taken

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// @Field: Offset: raw adjustment of barometer altitude, zeroed on calibration, possibly set by GCS

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// @Field: GndTemp: temperature on ground, specified by parameter or measured while on ground

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// @Field: Health: true if barometer is considered healthy

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struct PACKED log_BARO {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t instance;

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    float   altitude;

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    float   altitude_AMSL;

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    float   pressure;

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    int16_t temperature;

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    float   climbrate;

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    uint32_t sample_time_ms;

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    float   drift_offset;

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    float   ground_temp;

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    uint8_t healthy;

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};

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// @LoggerMessage: BARD

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// @Description: Barometer dynamic data

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// @Field: TimeUS: Time since system startup

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// @Field: I: barometer sensor instance number

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// @Field: DynPrX: calculated dynamic pressure in the bodyframe X-axis

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// @Field: DynPrY: calculated dynamic pressure in the bodyframe Y-axis

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// @Field: DynPrZ: calculated dynamic pressure in the bodyframe Z-axis

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struct PACKED log_BARD {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t instance;

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    float dyn_pressure_x;

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    float dyn_pressure_y;

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    float dyn_pressure_z;

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};

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#define LOG_STRUCTURE_FROM_BARO                                         \

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    { LOG_BARO_MSG, sizeof(log_BARO),                                   \

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            "BARO",                                                     \

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            "Q"       "B"  "f"    "f"        "f"      "c"     "f"    "I"    "f"       "f"        "B", \

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            "TimeUS," "I," "Alt," "AltAMSL," "Press," "Temp," "CRt," "SMS," "Offset," "GndTemp," "Health", \

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            "s"       "#"  "m"    "m"        "P"      "O"     "n"    "s"    "m"       "O"        "-", \

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            "F"       "-"  "0"    "0"        "0"      "B"     "0"    "C"    "?"       "0"        "-", \

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            true                                                        \

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            },                                                          \

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    { LOG_BARD_MSG, sizeof(log_BARD),                                   \

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            "BARD",                                                     \

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            "Q"       "B"  "fff", \

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            "TimeUS," "I," "DynPrX,DynPrY,DynPrZ", \

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            "s"       "#"  "PPP", \

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            "F"       "-"  "000", \

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            true                                                        \

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            },

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