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formatDoc.txt
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Documentation for message fields
Format characters in the format string for binary log messages
b : int8_t
B : uint8_t
h : int16_t
H : uint16_t
i : int32_t
I : uint32_t
f : float
d : double
n : char[4]
N : char[16]
Z : char[64]
c : int16_t * 100
C : uint16_t * 100
e : int32_t * 100
E : uint32_t * 100
L : int32_t latitude/longitude
M : uint8_t flight mode
q : int64_t
Q : uint64_t
ARM: 8 14 'ARM' 'QBH' 'TimeUS' 'ArmState' 'ArmChecks'
https://github.com/ArduPilot/ardupilot/blob/152edf71891146abc588b86e5f4149405b794da1/ArduPlane/Log.cpp#L413
ArmState : (bool) The arming state (https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Arming/AP_Arming.cpp#L93)
ArmChecks: (uint16) The check bitmask (https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Arming/AP_Arming.cpp#L98)
CURR: "QhhhHfh","TimeUS,Throttle,Volt,Curr,Vcc,CurrTot,Volt2"
https://github.com/ArduPilot/ardupilot/blob/43c7b4d5181eb31ec91a112b1add1bfe22941006/libraries/DataFlash/LogFile.cpp#L1640
Throttle: As recorded from autopilot (max 100 for Plane, max 1000 for copter)
Volt : (100*Volts) Battery voltage
Curr : (100*Amperes) Battery current draw
Vcc : (1000*Amperes) Board voltage
CurrTot : (mAh) Total current draw
Volt2 : (100*Volts) Secondary battery voltage
CURR: 168, 23, CURR, Qfff, TimeUS,Volt,Curr,CurrTot
Since : ArduPlane 3.6.0, Copter 3.4.0 https://github.com/ArduPilot/ardupilot/commit/3ed2fafefa2981d9ea720b552ba405dbeae37eca
https://github.com/ArduPilot/ardupilot/blob/3ed2fafefa2981d9ea720b552ba405dbeae37eca/libraries/DataFlash/LogFile.cpp#L1641
Volt : (Volts) Battery voltage
Curr : (Amperes) Battery current draw
CurrTot : (mAh) Total current draw
POWR: "QffH","TimeUS,Vcc,VServo,Flags"
Since : ArduPlane 3.6.0, Copter 3.4.0 https://github.com/ArduPilot/ardupilot/commit/7a397475afd868a806de37fe41249bc3f97d92a1#diff-50fc6924592925cd3572aff05385f2b2
Vcc : (Volts) Board voltage
VServo : (Volts) Servo rail voltage
Flags : (bitmask) Power error flags https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml#L1793
https://github.com/ArduPilot/ardupilot/blob/ArduPlane-3.6.0/libraries/AP_HAL_PX4/AnalogIn.cpp#L351
MAG: "QhhhhhhhhhBI", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health"
Since : ArduPlane 3.3.0, Copter-3.3-rc5 https://github.com/ArduPilot/ardupilot/commit/b0937154f5545d47749daa92cd19a4fbc261029d
mag_x : (milliGauss) Compass magnetic field X https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Compass/AP_Compass.h#L119
mag_y : (milliGauss) Compass magnetic field Y
mag_z : (milliGauss) Compass magnetic field Z
offset_x : (milliGauss) Compass offset X https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Compass/AP_Compass.h#L151
offset_y : (milliGauss) Compass offset Y
offset_z : (milliGauss) Compass offset Z
motor_offset_x : (milliGauss) Motor compensation offset X https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Compass/AP_Compass.h#L228
motor_offset_y : (milliGauss) Motor compensation offset Y
motor_offset_z : (milliGauss) Motor compensation offset Z
health : (boolean) Compass health (last talked at most 500ms ago) https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_Compass/AP_Compass.cpp#L602
MAG: "QhhhhhhhhhBI", "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
Since : ArduPlane 3.6.0, Copter 3.4.0 https://github.com/ArduPilot/ardupilot/commit/61da827c16266a50cd004355f79e4e2fbf38b91e
S : (microSeconds) last update time
IMU: "QffffffIIfBB", "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt"
Since : ArduPlane 3.5.1, Copter-3.4 https://github.com/ArduPilot/ardupilot/commit/121967d1b18a557b07bf741c044793dc1f5c1e9c
https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/DataFlash/LogFile.cpp#L879
GyrX : (UNKNOWN UNITS)
GyrY : (UNKNOWN UNITS)
GyrZ : (UNKNOWN UNITS)
AccX : (UNKNOWN UNITS)
AccY : (UNKNOWN UNITS)
AccZ : (UNKNOWN UNITS)
ErrG : (int) count of gyro errors
ErrA : (int) count of accel errors
Temp : (UNKNOWN UNITS)
GyHlt : (boolean) Test if gyro errors have increased https://github.com/ArduPilot/ardupilot/blob/c808ee2f497e7a7a6d570632a3224e655b377323/libraries/AP_InertialSensor/AP_InertialSensor.cpp#L1055
AcHlt : (boolean) Same as above
PM: QIHIhhhBH,{TimeUS,LTime,MLC,gDt,GDx,GDy,GDz,I2CErr,INSErr}
Since : ArduPlane-2.27b ArduCopter-3.1.0-rc7 https://github.com/ArduPilot/ardupilot/commit/c01a3debd66ddcb8427b12e4b8fe04a4f0eaebb1
loop time : (ms) time since start
main loop count : (UNKNOWN UNITS) main loop count
gDt : (UNKNOWN UNITS) perf.G_Dt_max
gyro drift x : (1000*UNKNOWN_UNITS) gyro drift x
gyro drift y : (1000*UNKNOWN_UNITS) gyro drift y
gyro drift z : (1000*UNKNOWN_UNITS) gyro drift z
i2c lockup count : (units)
ins error count : (units)
PM: QHHIII,{TimeUS,NLon,NLoop,MaxT,MinT,LogDrop}
Since : ArduPlane 3.6.0, Copter-3.4.0 https://github.com/ArduPilot/ardupilot/commit/8683616d8c87c2e54c28cd5fb8ee52500172c4fd
https://github.com/ArduPilot/ardupilot/commit/cf7b6123a99f1a176fd05235f73df581b3ed42ba
Also see here: https://github.com/ArduPilot/ardupilot/blob/bae9ce20c1a5a92c2f674c21080df9621af3eceb/ArduPlane/Plane.h#L762
num longs : (Units) Number of loops that exceeded allocated loop time by 500us (long loops)
main loop count : (UNKNOWN UNITS) main loop count since last reporting
MaxT : (us) maximum recorded loop time
MinT : (us) minimum recorded loop time
LogDrop : (Units) accumulated number of lost log messages
MODE:
Mode numbers meaning can be found here: https://github.com/ArduPilot/ardupilot/blob/cd72657c94c37904a7b1fd7e4bf0b8892a5d325d/ArduPlane/mode.h
MANUAL = 0,
CIRCLE = 1,
STABILIZE = 2,
TRAINING = 3,
ACRO = 4,
FLY_BY_WIRE_A = 5,
FLY_BY_WIRE_B = 6,
CRUISE = 7,
AUTOTUNE = 8,
AUTO = 10,
RTL = 11,
LOITER = 12,
AVOID_ADSB = 14,
GUIDED = 15,
INITIALISING = 16,
QSTABILIZE = 17,
QHOVER = 18,
QLOITER = 19,
QLAND = 20,
QRTL = 21,
QAUTOTUNE = 22,
QACRO = 23,