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

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#include <AP_Logger/LogStructure.h>

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#include "AP_Beacon_config.h"

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#define LOG_IDS_FROM_BEACON \

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    LOG_BEACON_MSG

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// @LoggerMessage: BCN

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// @Description: Beacon information

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// @Field: TimeUS: Time since system startup

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// @Field: Health: True if beacon sensor is healthy

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// @Field: Cnt: Number of beacons being used

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// @Field: D0: Distance to first beacon

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// @Field: D1: Distance to second beacon

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// @Field: D2: Distance to third beacon

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// @Field: D3: Distance to fourth beacon

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// @Field: PosX: Calculated beacon position, x-axis

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// @Field: PosY: Calculated beacon position, y-axis

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// @Field: PosZ: Calculated beacon position, z-axis

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struct PACKED log_Beacon {

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    LOG_PACKET_HEADER;

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    uint64_t time_us;

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    uint8_t health;

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    uint8_t count;

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    float dist0;

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    float dist1;

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    float dist2;

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    float dist3;

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    float posx;

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    float posy;

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    float posz;

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};

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#if AP_BEACON_ENABLED

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#define LOG_STRUCTURE_FROM_BEACON \

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    { LOG_BEACON_MSG, sizeof(log_Beacon), \

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        "BCN", "QBBfffffff",  "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--0000000", true },

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#else

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#define LOG_STRUCTURE_FROM_BEACON

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#endif

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