libraries/AP_VisualOdom/LogStructure.h

   1 #pragma once
   2
   3 #include <AP_Logger/LogStructure.h>
   4 #include "AP_VisualOdom_config.h"
   5
   6 #define LOG_IDS_FROM_VISUALODOM \
   7     LOG_VISUALODOM_MSG, \
   8     LOG_VISUALPOS_MSG, \
   9     LOG_VISUALVEL_MSG
  10
  11 // @LoggerMessage: VISO
  12 // @Description: Visual Odometry
  13 // @Field: TimeUS: System time
  14 // @Field: dt: Time period this data covers
  15 // @Field: AngDX: Angular change for body-frame roll axis
  16 // @Field: AngDY: Angular change for body-frame pitch axis
  17 // @Field: AngDZ: Angular change for body-frame z axis
  18 // @Field: PosDX: Position change for body-frame X axis (Forward-Back)
  19 // @Field: PosDY: Position change for body-frame Y axis (Right-Left)
  20 // @Field: PosDZ: Position change for body-frame Z axis (Down-Up)
  21 // @Field: conf: Confidence
  22 struct PACKED log_VisualOdom {
  23     LOG_PACKET_HEADER;
  24     uint64_t time_us;
  25     float time_delta;
  26     float angle_delta_x;
  27     float angle_delta_y;
  28     float angle_delta_z;
  29     float position_delta_x;
  30     float position_delta_y;
  31     float position_delta_z;
  32     float confidence;
  33 };
  34
  35 // @LoggerMessage: VISP
  36 // @Description: Vision Position
  37 // @Field: TimeUS: System time
  38 // @Field: RTimeUS: Remote system time
  39 // @Field: CTimeMS: Corrected system time
  40 // @Field: PX: Position X-axis (North-South)
  41 // @Field: PY: Position Y-axis (East-West)
  42 // @Field: PZ: Position Z-axis (Down-Up)
  43 // @Field: R: Roll lean angle
  44 // @Field: P: Pitch lean angle
  45 // @Field: Y: Yaw angle
  46 // @Field: PErr: Position estimate error
  47 // @Field: AErr: Attitude estimate error
  48 // @Field: Rst: Position reset counter
  49 // @Field: Ign: Ignored
  50 // @Field: Q: Quality
  51 struct PACKED log_VisualPosition {
  52     LOG_PACKET_HEADER;
  53     uint64_t time_us;
  54     uint64_t remote_time_us;
  55     uint32_t time_ms;
  56     float pos_x;
  57     float pos_y;
  58     float pos_z;
  59     float roll;     // degrees
  60     float pitch;    // degrees
  61     float yaw;      // degrees
  62     float pos_err;  // meters
  63     float ang_err;  // radians
  64     uint8_t reset_counter;
  65     uint8_t ignored;
  66     int8_t quality;
  67 };
  68
  69 // @LoggerMessage: VISV
  70 // @Description: Vision Velocity
  71 // @Field: TimeUS: System time
  72 // @Field: RTimeUS: Remote system time
  73 // @Field: CTimeMS: Corrected system time
  74 // @Field: VX: Velocity X-axis (North-South)
  75 // @Field: VY: Velocity Y-axis (East-West)
  76 // @Field: VZ: Velocity Z-axis (Down-Up)
  77 // @Field: VErr: Velocity estimate error
  78 // @Field: Rst: Velocity reset counter
  79 // @Field: Ign: Ignored
  80 // @Field: Q: Quality
  81 struct PACKED log_VisualVelocity {
  82     LOG_PACKET_HEADER;
  83     uint64_t time_us;
  84     uint64_t remote_time_us;
  85     uint32_t time_ms;
  86     float vel_x;
  87     float vel_y;
  88     float vel_z;
  89     float vel_err;
  90     uint8_t reset_counter;
  91     uint8_t ignored;
  92     int8_t quality;
  93 };
  94
  95 #if HAL_VISUALODOM_ENABLED
  96 #define LOG_STRUCTURE_FROM_VISUALODOM \
  97     { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
  98       "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
  99     { LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
 100       "VISP", "QQIffffffffBBb", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,R,P,Y,PErr,AErr,Rst,Ign,Q", "sssmmmddhmd--%", "FFC00000000--0" }, \
 101     { LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
 102       "VISV", "QQIffffBBb", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign,Q", "sssnnnn--%", "FFC0000--0" },
 103 #else
 104 #define LOG_STRUCTURE_FROM_VISUALODOM
 105 #endif