text: /****************************************************************************
   *
   *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
   *   Author: Anton Babushkin <anton.babushkin@me.com>
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file sdlog2_messages.h
   *
   * Log messages and structures definition.
   *
   * @author Anton Babushkin <anton.babushkin@me.com>
   */
  
  #ifndef SDLOG2_MESSAGES_H_
  #define SDLOG2_MESSAGES_H_
  
  #include "sdlog2_format.h"
  
  /* define message formats */
  
  #pragma pack(push, 1)
  /* --- ATT - ATTITUDE --- */
  #define LOG_ATT_MSG 2
  struct log_ATT_s {
  	float q_w;
  	float q_x;
  	float q_y;
  	float q_z;
  	float roll;
  	float pitch;
  	float yaw;
  	float roll_rate;
  	float pitch_rate;
  	float yaw_rate;
  	float gx;
  	float gy;
  	float gz;
  };
  
  /* --- ATSP - ATTITUDE SET POINT --- */
  #define LOG_ATSP_MSG 3
  struct log_ATSP_s {
  	float roll_sp;
  	float pitch_sp;
  	float yaw_sp;
  	float thrust_sp;
  };
  
  /* --- IMU - IMU SENSORS --- */
  #define LOG_IMU_MSG 4
  #define LOG_IMU1_MSG 22
  #define LOG_IMU2_MSG 23
  struct log_IMU_s {
  	float acc_x;
  	float acc_y;
  	float acc_z;
  	float gyro_x;
  	float gyro_y;
  	float gyro_z;
  	float mag_x;
  	float mag_y;
  	float mag_z;
  };
  
  /* --- SENS - OTHER SENSORS --- */
  #define LOG_SENS_MSG 5
  struct log_SENS_s {
  	float baro_pres;
  	float baro_alt;
  	float baro_temp;
  	float diff_pres;
  	float diff_pres_filtered;
  };
  
  /* --- LPOS - LOCAL POSITION --- */
  #define LOG_LPOS_MSG 6
  struct log_LPOS_s {
  	float x;
  	float y;
  	float z;
  	float ground_dist;
  	float ground_dist_rate;
  	float vx;
  	float vy;
  	float vz;
  	int32_t ref_lat;
  	int32_t ref_lon;
  	float ref_alt;
  	uint8_t pos_flags;
  	uint8_t ground_dist_flags;
  	float eph;
  	float epv;
  };
  
  /* --- LPSP - LOCAL POSITION SETPOINT --- */
  #define LOG_LPSP_MSG 7
  struct log_LPSP_s {
  	float x;
  	float y;
  	float z;
  	float yaw;
  	float vx;
  	float vy;
  	float vz;
  	float acc_x;
  	float acc_y;
  	float acc_z;
  };
  
  /* --- GPS - GPS POSITION --- */
  #define LOG_GPS_MSG 8
  struct log_GPS_s {
  	uint64_t gps_time;
  	uint8_t fix_type;
  	float eph;
  	float epv;
  	int32_t lat;
  	int32_t lon;
  	float alt;
  	float vel_n;
  	float vel_e;
  	float vel_d;
  	float cog;
  	uint8_t sats;
  	uint16_t snr_mean;
  	uint16_t noise_per_ms;
  	uint16_t jamming_indicator;
  };
  
  /* --- ATTC - ATTITUDE CONTROLS (ACTUATOR_0 CONTROLS)--- */
  #define LOG_ATTC_MSG 9
  #define LOG_ATC1_MSG 40
  struct log_ATTC_s {
  	float roll;
  	float pitch;
  	float yaw;
  	float thrust;
  };
  
  /* --- STAT - VEHICLE STATE --- */
  #define LOG_STAT_MSG 10
  struct log_STAT_s {
  	uint8_t main_state;
  	uint8_t arming_state;
  	uint8_t failsafe;
  	float battery_remaining;
  	uint8_t battery_warning;
  	uint8_t landed;
  	float load;
  };
  
  /* --- RC - RC INPUT CHANNELS --- */
  #define LOG_RC_MSG 11
  struct log_RC_s {
  	float channel[8];
  	uint8_t channel_count;
  	uint8_t signal_lost;
  };
  
  /* --- OUT0 - ACTUATOR_0 OUTPUT --- */
  #define LOG_OUT0_MSG 12
  struct log_OUT0_s {
  	float output[8];
  };
  
  /* --- AIRS - AIRSPEED --- */
  #define LOG_AIRS_MSG 13
  struct log_AIRS_s {
  	float indicated_airspeed;
  	float true_airspeed;
  	float air_temperature_celsius;
  };
  
  /* --- ARSP - ATTITUDE RATE SET POINT --- */
  #define LOG_ARSP_MSG 14
  struct log_ARSP_s {
  	float roll_rate_sp;
  	float pitch_rate_sp;
  	float yaw_rate_sp;
  };
  
  /* --- FLOW - OPTICAL FLOW --- */
  #define LOG_FLOW_MSG 15
  struct log_FLOW_s {
  	uint64_t timestamp;
  	uint8_t sensor_id;
  	float pixel_flow_x_integral;
  	float pixel_flow_y_integral;
  	float gyro_x_rate_integral;
  	float gyro_y_rate_integral;
  	float gyro_z_rate_integral;
  	float ground_distance_m;
  	uint32_t integration_timespan;
  	uint32_t time_since_last_sonar_update;
  	uint16_t frame_count_since_last_readout;
  	int16_t gyro_temperature;
  	uint8_t	quality;
  };
  
  /* --- GPOS - GLOBAL POSITION ESTIMATE --- */
  #define LOG_GPOS_MSG 16
  struct log_GPOS_s {
  	int32_t lat;
  	int32_t lon;
  	float alt;
  	float vel_n;
  	float vel_e;
  	float vel_d;
  	float eph;
  	float epv;
  	float terrain_alt;
  };
  
  /* --- GPSP - GLOBAL POSITION SETPOINT --- */
  #define LOG_GPSP_MSG 17
  struct log_GPSP_s {
  	uint8_t nav_state;
  	int32_t lat;
  	int32_t lon;
  	float alt;
  	float yaw;
  	uint8_t type;
  	float loiter_radius;
  	int8_t loiter_direction;
  	float pitch_min;
  };
  
  /* --- ESC - ESC STATE --- */
  #define LOG_ESC_MSG 18
  struct log_ESC_s {
  	uint16_t counter;
  	uint8_t  esc_count;
  	uint8_t  esc_connectiontype;
  	uint8_t  esc_num;
  	uint16_t esc_address;
  	uint16_t esc_version;
  	float    esc_voltage;
  	float    esc_current;
  	int32_t  esc_rpm;
  	float    esc_temperature;
  	float    esc_setpoint;
  	uint16_t esc_setpoint_raw;
  };
  
  /* --- GVSP - GLOBAL VELOCITY SETPOINT --- */
  #define LOG_GVSP_MSG 19
  struct log_GVSP_s {
  	float vx;
  	float vy;
  	float vz;
  };
  
  /* --- BATT - BATTERY --- */
  #define LOG_BATT_MSG 20
  struct log_BATT_s {
  	float voltage;
  	float voltage_filtered;
  	float current;
  	float discharged;
  };
  
  /* --- DIST - DISTANCE TO SURFACE --- */
  #define LOG_DIST_MSG 21
  struct log_DIST_s {
  	float bottom;
  	float bottom_rate;
  	uint8_t flags;
  };
  
  /* LOG IMU1 and IMU2 MSGs consume IDs 22 and 23 */
  
  
  /* --- PWR - ONBOARD POWER SYSTEM --- */
  #define LOG_PWR_MSG 24
  struct log_PWR_s {
  	float peripherals_5v;
  	float servo_rail_5v;
  	float servo_rssi;
  	uint8_t usb_ok;
  	uint8_t brick_ok;
  	uint8_t servo_ok;
  	uint8_t low_power_rail_overcurrent;
  	uint8_t high_power_rail_overcurrent;
  };
  
  /* --- VICN - VICON POSITION --- */
  #define LOG_VICN_MSG 25
  struct log_VICN_s {
  	float x;
  	float y;
  	float z;
  	float roll;
  	float pitch;
  	float yaw;
  };
  
  /* --- GS0A - GPS SNR #0, SAT GROUP A --- */
  #define LOG_GS0A_MSG 26
  struct log_GS0A_s {
  	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
  };
  
  /* --- GS0B - GPS SNR #0, SAT GROUP B --- */
  #define LOG_GS0B_MSG 27
  struct log_GS0B_s {
  	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
  };
  
  /* --- GS1A - GPS SNR #1, SAT GROUP A --- */
  #define LOG_GS1A_MSG 28
  struct log_GS1A_s {
  	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
  };
  
  /* --- GS1B - GPS SNR #1, SAT GROUP B --- */
  #define LOG_GS1B_MSG 29
  struct log_GS1B_s {
  	uint8_t satellite_snr[16];			/**< dBHz, Signal to noise ratio of satellite C/N0, range 0..99 */
  };
  
  /* --- TECS - TECS STATUS --- */
  #define LOG_TECS_MSG 30
  struct log_TECS_s {
  	float altitudeSp;
  	float altitudeFiltered;
  	float flightPathAngleSp;
  	float flightPathAngle;
  	float flightPathAngleFiltered;
  	float airspeedSp;
  	float airspeedFiltered;
  	float airspeedDerivativeSp;
  	float airspeedDerivative;
  
  	float totalEnergyRateSp;
  	float totalEnergyRate;
  	float energyDistributionRateSp;
  	float energyDistributionRate;
  
  	uint8_t mode;
  };
  
  /* --- WIND - WIND ESTIMATE --- */
  #define LOG_WIND_MSG 31
  struct log_WIND_s {
  	float x;
  	float y;
  	float cov_x;
  	float cov_y;
  };
  
  /* --- EST0 - ESTIMATOR STATUS --- */
  #define LOG_EST0_MSG 32
  struct log_EST0_s {
  	float s[12];
  	uint8_t n_states;
  	uint8_t nan_flags;
  	uint8_t health_flags;
  	uint8_t timeout_flags;
  };
  
  /* --- EST1 - ESTIMATOR STATUS --- */
  #define LOG_EST1_MSG 33
  struct log_EST1_s {
  	float s[16];
  };
  
  /* --- TEL0..3 - TELEMETRY STATUS --- */
  #define LOG_TEL0_MSG 34
  #define LOG_TEL1_MSG 35
  #define LOG_TEL2_MSG 36
  #define LOG_TEL3_MSG 37
  struct log_TEL_s {
  	uint8_t rssi;
  	uint8_t remote_rssi;
  	uint8_t noise;
  	uint8_t remote_noise;
  	uint16_t rxerrors;
  	uint16_t fixed;
  	uint8_t txbuf;
  	uint64_t heartbeat_time;
  };
  
  /* --- VISN - VISION POSITION --- */
  #define LOG_VISN_MSG 38
  struct log_VISN_s {
  	float x;
  	float y;
  	float z;
  	float vx;
  	float vy;
  	float vz;
  	float qx;
  	float qy;
  	float qz;
  	float qw;
  };
  
  /* --- ENCODERS - ENCODER DATA --- */
  #define LOG_ENCD_MSG 39
  struct log_ENCD_s {
  	int64_t cnt0;
  	float vel0;
  	int64_t cnt1;
  	float vel1;
  };
  
  /* --- AIR SPEED SENSORS - DIFF. PRESSURE --- */
  #define LOG_AIR1_MSG 40
  
  /* --- VTOL - VTOL VEHICLE STATUS */
  #define LOG_VTOL_MSG 42
  struct log_VTOL_s {
  	float airspeed_tot;
  };
  
  /********** SYSTEM MESSAGES, ID > 0x80 **********/
  
  /* --- TIME - TIME STAMP --- */
  #define LOG_TIME_MSG 129
  struct log_TIME_s {
  	uint64_t t;
  };
  
  /* --- VER - VERSION --- */
  #define LOG_VER_MSG 130
  struct log_VER_s {
  	char arch[16];
  	char fw_git[64];
  };
  
  /* --- PARM - PARAMETER --- */
  #define LOG_PARM_MSG 131
  struct log_PARM_s {
  	char name[16];
  	float value;
  };
  
  #pragma pack(pop)
  
  /* construct list of all message formats */
  static const struct log_format_s log_formats[] = {
  	/* business-level messages, ID < 0x80 */
  	LOG_FORMAT(ATT, "fffffffffffff",	"qw,qx,qy,qz,Roll,Pitch,Yaw,RollRate,PitchRate,YawRate,GX,GY,GZ"),
  	LOG_FORMAT(ATSP, "ffff",		"RollSP,PitchSP,YawSP,ThrustSP"),
  	LOG_FORMAT_S(IMU, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
  	LOG_FORMAT_S(IMU1, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
  	LOG_FORMAT_S(IMU2, IMU, "fffffffff",		"AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
  	LOG_FORMAT_S(SENS, SENS, "fffff",		"BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
  	LOG_FORMAT_S(AIR1, SENS, "fffff",	"BaroPa,BaroAlt,BaroTmp,DiffPres,DiffPresF"),
  	LOG_FORMAT(LPOS, "ffffffffLLfBBff",	"X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,GFlg,EPH,EPV"),
  	LOG_FORMAT(LPSP, "ffffffffff",		"X,Y,Z,Yaw,VX,VY,VZ,AX,AY,AZ"),
  	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
  	LOG_FORMAT_S(ATTC, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
  	LOG_FORMAT_S(ATC1, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
  	LOG_FORMAT(STAT, "BBBfBBf",		"MainS,ArmS,Failsafe,BatRem,BatWarn,Landed,Load"),
  	LOG_FORMAT(VTOL, "f",		"Arsp"),
  	LOG_FORMAT(RC, "ffffffffBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
  	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
  	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
  	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
  	LOG_FORMAT(FLOW, "QBffffffLLHhB",	"IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),
  	LOG_FORMAT(GPOS, "LLfffffff",		"Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
  	LOG_FORMAT(GPSP, "BLLffBfbf",		"NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
  	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
  	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
  	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
  	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
  	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
  	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
  	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
  	LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
  	LOG_FORMAT(EST0, "ffffffffffffBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
  	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
  	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
  	LOG_FORMAT(VICN, "ffffff",		"X,Y,Z,Roll,Pitch,Yaw"),
  	LOG_FORMAT(VISN, "ffffffffff",		"X,Y,Z,VX,VY,VZ,QuatX,QuatY,QuatZ,QuatW"),
  	LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
  	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
  	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
  	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
  	LOG_FORMAT(TECS, "fffffffffffffB",	"ASP,AF,FSP,F,FF,AsSP,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
  	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
  	LOG_FORMAT(ENCD, "qfqf",	"cnt0,vel0,cnt1,vel1"),
  
  	/* system-level messages, ID >= 0x80 */
  	/* FMT: don't write format of format message, it's useless */
  	LOG_FORMAT(TIME, "Q", "StartTime"),
  	LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
  	LOG_FORMAT(PARM, "Nf", "Name,Value")
  };
  
  static const unsigned log_formats_num = sizeof(log_formats) / sizeof(log_formats[0]);
  
  #endif /* SDLOG2_MESSAGES_H_ */
  