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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/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_Camera_config.h"

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#define LOG_IDS_FROM_CAMERA \

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    LOG_CAMERA_MSG, \

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    LOG_TRIGGER_MSG

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// @LoggerMessage: CAM,TRIG

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// @Description: Camera shutter information

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// @Field: TimeUS: Time since system startup

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// @Field: I: Instance number

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// @Field: Img: Image number

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// @Field: GPSTime: milliseconds since start of GPS week

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// @Field: GPSWeek: weeks since 5 Jan 1980

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// @Field: Lat: current latitude

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// @Field: Lng: current longitude

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// @Field: Alt: current altitude

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// @Field: RelAlt: current altitude relative to home

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// @Field: GPSAlt: altitude as reported by GPS

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// @Field: R: current vehicle roll

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// @Field: P: current vehicle pitch

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// @Field: Y: current vehicle yaw

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struct PACKED log_Camera {

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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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    uint16_t image_number;

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    uint32_t gps_time;

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    uint16_t gps_week;

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    int32_t  latitude;

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    int32_t  longitude;

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    int32_t  altitude;

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    int32_t  altitude_rel;

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    int32_t  altitude_gps;

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    int16_t  roll;

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    int16_t  pitch;

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    uint16_t yaw;

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};

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#if AP_CAMERA_ENABLED

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#define LOG_STRUCTURE_FROM_CAMERA \

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    { LOG_CAMERA_MSG, sizeof(log_Camera), \

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      "CAM", "QBHIHLLeeeccC","TimeUS,I,Img,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,R,P,Y", "s#---DUmmmddd", "F----GGBBBBBB" }, \

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    { LOG_TRIGGER_MSG, sizeof(log_Camera), \

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      "TRIG", "QBHIHLLeeeccC","TimeUS,I,Img,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,R,P,Y", "s#---DUmmmddd", "F----GGBBBBBB" },

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#else

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#define LOG_STRUCTURE_FROM_CAMERA

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#endif

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