LogStructure.h

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#pragma once

/*
  unfortunately these need to be macros because of a limitation of
  named member structure initialisation in g++
 */
#define LOG_PACKET_HEADER          uint8_t head1, head2, msgid;
#define LOG_PACKET_HEADER_INIT(id) head1 : HEAD_BYTE1, head2 : HEAD_BYTE2, msgid : id
#define LOG_PACKET_HEADER_LEN 3 // bytes required for LOG_PACKET_HEADER

// once the logging code is all converted we will remove these from
// this header
#define HEAD_BYTE1  0xA3    // Decimal 163
#define HEAD_BYTE2  0x95    // Decimal 149

// structure used to define logging format
struct LogStructure {
    uint8_t msg_type;
    uint8_t msg_len;
    const char *name;
    const char *format;
    const char *labels;
    const char *units;
    const char *multipliers;
};

// maximum lengths of fields in LogStructure, including trailing nulls
static const uint8_t LS_NAME_SIZE = 5;
static const uint8_t LS_FORMAT_SIZE = 17;
static const uint8_t LS_LABELS_SIZE = 65;
static const uint8_t LS_UNITS_SIZE = 17;
static const uint8_t LS_MULTIPLIERS_SIZE = 17;

/*
  log structures common to all vehicle types
 */
struct PACKED log_Format {
    LOG_PACKET_HEADER;
    uint8_t type;
    uint8_t length;
    char name[4];
    char format[16];
    char labels[64];
};

struct PACKED log_Unit {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    char type;
    char unit[64]; // you know, this might be overkill...
};

struct PACKED log_Format_Multiplier {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    char type;
    double multiplier;
};

struct PACKED log_Format_Units {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t format_type;
    char units[16];
    char multipliers[16];
};

struct UnitStructure {
    const char ID;
    const char *unit;
};

struct MultiplierStructure {
    const char ID;
    const double multiplier;
};

// all units here should be base units
// This does mean battery capacity is here as "amp*second"
// Please keep the names consistent with Tools/autotest/param_metadata/param.py:33
const struct UnitStructure log_Units[] = {
    { '-', "" },              // no units e.g. Pi, or a string
    { '?', "UNKNOWN" },       // Units which haven't been worked out yet....
    { 'A', "A" },             // Ampere
    { 'd', "deg" },           // of the angular variety, -180 to 180
    { 'b', "B" },             // bytes
    { 'k', "deg/s" },         // degrees per second. Degrees are NOT SI, but is some situations more user-friendly than radians
    { 'D', "deglatitude" },   // degrees of latitude
    { 'e', "deg/s/s" },       // degrees per second per second. Degrees are NOT SI, but is some situations more user-friendly than radians
    { 'E', "rad/s" },         // radians per second
    { 'G', "Gauss" },         // Gauss is not an SI unit, but 1 tesla = 10000 gauss so a simple replacement is not possible here
    { 'h', "degheading" },    // 0.? to 359.?
    { 'i', "A.s" },           // Ampere second
    { 'J', "W.s" },           // Joule (Watt second)
    // { 'l', "l" },          // litres
    { 'L', "rad/s/s" },       // radians per second per second
    { 'm', "m" },             // metres
    { 'n', "m/s" },           // metres per second
    // { 'N', "N" },          // Newton
    { 'o', "m/s/s" },         // metres per second per second
    { 'O', "degC" },          // degrees Celsius. Not SI, but Kelvin is too cumbersome for most users
    { '%', "%" },             // percent
    { 'S', "satellites" },    // number of satellites
    { 's', "s" },             // seconds
    { 'q', "rpm" },           // rounds per minute. Not SI, but sometimes more intuitive than Hertz
    { 'r', "rad" },           // radians
    { 'U', "deglongitude" },  // degrees of longitude
    { 'u', "ppm" },           // pulses per minute
    { 'U', "us" },            // pulse width modulation in microseconds
    { 'v', "V" },             // Volt
    { 'P', "Pa" },            // Pascal
    { 'w', "Ohm" },           // Ohm
    { 'z', "Hz" }             // Hertz
};

// this multiplier information applies to the raw value present in the
// log.  Any adjustment implied by the format field (e.g. the "centi"
// in "centidegrees" is *IGNORED* for the purposes of scaling.
// Essentially "format" simply tells you the C-type, and format-type h
// (int16_t) is equivalent to format-type c (int16_t*100)
// tl;dr a GCS shouldn't/mustn't infer any scaling from the unit name

const struct MultiplierStructure log_Multipliers[] = {
    { '-', 0 },       // no multiplier e.g. a string
    { '?', 1 },       // multipliers which haven't been worked out yet....
// <leave a gap here, just in case....>
    { '2', 1e2 },
    { '1', 1e1 },
    { '0', 1e0 },
    { 'A', 1e-1 },
    { 'B', 1e-2 },
    { 'C', 1e-3 },
    { 'D', 1e-4 },
    { 'E', 1e-5 },
    { 'F', 1e-6 },
    { 'G', 1e-7 },
// <leave a gap here, just in case....>
    { '!', 3.6 }, // (ampere*second => milliampere*hour) and (km/h => m/s)
    { '/', 3600 }, // (ampere*second => ampere*hour)
};

struct PACKED log_Parameter {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    char name[16];
    float value;
};

struct PACKED log_DSF {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint32_t dropped;
    uint8_t  internal_errors;
    uint16_t blocks;
    uint32_t bytes;
    uint32_t buf_space_min;
    uint32_t buf_space_max;
    uint32_t buf_space_avg;
};

struct PACKED log_GPS {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t  status;
    uint32_t gps_week_ms;
    uint16_t gps_week;
    uint8_t  num_sats;
    uint16_t hdop;
    int32_t  latitude;
    int32_t  longitude;
    int32_t  altitude;
    float    ground_speed;
    float    ground_course;
    float    vel_z;
    uint8_t  used;
};

struct PACKED log_GPA {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t vdop;
    uint16_t hacc;
    uint16_t vacc;
    uint16_t sacc;
    uint8_t  have_vv;
    uint32_t sample_ms;
    uint16_t delta_ms;
};

struct PACKED log_Message {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    char msg[64];
};

struct PACKED log_IMU {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float gyro_x, gyro_y, gyro_z;
    float accel_x, accel_y, accel_z;
    uint32_t gyro_error, accel_error;
    float temperature;
    uint8_t gyro_health, accel_health;
    uint16_t gyro_rate, accel_rate;
};

struct PACKED log_IMUDT {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float delta_time, delta_vel_dt, delta_ang_dt;
    float delta_ang_x, delta_ang_y, delta_ang_z;
    float delta_vel_x, delta_vel_y, delta_vel_z;
};

struct PACKED log_ISBH {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t seqno;
    uint8_t sensor_type; // e.g. GYRO or ACCEL
    uint8_t instance;
    uint16_t multiplier;
    uint16_t sample_count;
    uint64_t sample_us;
    float sample_rate_hz;
};
static_assert(sizeof(log_ISBH) < 256, "log_ISBH is over-size");

struct PACKED log_ISBD {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t isb_seqno;
    uint16_t seqno; // seqno within isb_seqno
    int16_t x[32];
    int16_t y[32];
    int16_t z[32];
};
static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");

struct PACKED log_Vibe {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float vibe_x, vibe_y, vibe_z;
    uint32_t clipping_0, clipping_1, clipping_2;
};

struct PACKED log_Gimbal1 {
    LOG_PACKET_HEADER;
    uint32_t time_ms;
    float delta_time;
    float delta_angles_x;
    float delta_angles_y;
    float delta_angles_z;
    float delta_velocity_x;
    float delta_velocity_y;
    float delta_velocity_z;
    float joint_angles_x;
    float joint_angles_y;
    float joint_angles_z;
};

struct PACKED log_Gimbal2 {
    LOG_PACKET_HEADER;
    uint32_t time_ms;
    uint8_t  est_sta;
    float est_x;
    float est_y;
    float est_z;
    float rate_x;
    float rate_y;
    float rate_z;
    float target_x;
    float target_y;
    float target_z;
};

struct PACKED log_Gimbal3 {
    LOG_PACKET_HEADER;
    uint32_t time_ms;
    int16_t rl_torque_cmd;
    int16_t el_torque_cmd;
    int16_t az_torque_cmd;
};

struct PACKED log_RCIN {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t chan1;
    uint16_t chan2;
    uint16_t chan3;
    uint16_t chan4;
    uint16_t chan5;
    uint16_t chan6;
    uint16_t chan7;
    uint16_t chan8;
    uint16_t chan9;
    uint16_t chan10;
    uint16_t chan11;
    uint16_t chan12;
    uint16_t chan13;
    uint16_t chan14;
};

struct PACKED log_RCOUT {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t chan1;
    uint16_t chan2;
    uint16_t chan3;
    uint16_t chan4;
    uint16_t chan5;
    uint16_t chan6;
    uint16_t chan7;
    uint16_t chan8;
    uint16_t chan9;
    uint16_t chan10;
    uint16_t chan11;
    uint16_t chan12;
    uint16_t chan13;
    uint16_t chan14;
};

struct PACKED log_RSSI {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float RXRSSI;
};

struct PACKED log_BARO {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float   altitude;
    float   pressure;
    int16_t temperature;
    float   climbrate;
    uint32_t sample_time_ms;
    float   drift_offset;
    float   ground_temp;
};

struct PACKED log_AHRS {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t roll;
    int16_t pitch;
    uint16_t yaw;
    float alt;
    int32_t lat;
    int32_t lng;
    float q1, q2, q3, q4;
};

struct PACKED log_POS {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int32_t lat;
    int32_t lng;
    float alt;
    float rel_home_alt;
    float rel_origin_alt;
};

struct PACKED log_POWR {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float Vcc;
    float Vservo;
    uint16_t flags;
    uint8_t safety_and_arm;
};

struct PACKED log_EKF1 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t roll;
    int16_t pitch;
    uint16_t yaw;
    float velN;
    float velE;
    float velD;
    float posD_dot;
    float posN;
    float posE;
    float posD;
    int16_t gyrX;
    int16_t gyrY;
    int16_t gyrZ;
    int32_t originHgt;
};

struct PACKED log_EKF2 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int8_t Ratio;
    int8_t AZ1bias;
    int8_t AZ2bias;
    int16_t windN;
    int16_t windE;
    int16_t magN;
    int16_t magE;
    int16_t magD;
    int16_t magX;
    int16_t magY;
    int16_t magZ;
};

struct PACKED log_NKF2 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int8_t AZbias;
    int16_t scaleX;
    int16_t scaleY;
    int16_t scaleZ;
    int16_t windN;
    int16_t windE;
    int16_t magN;
    int16_t magE;
    int16_t magD;
    int16_t magX;
    int16_t magY;
    int16_t magZ;
    uint8_t index;
};

struct PACKED log_NKF2a {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t accBiasX;
    int16_t accBiasY;
    int16_t accBiasZ;
    int16_t windN;
    int16_t windE;
    int16_t magN;
    int16_t magE;
    int16_t magD;
    int16_t magX;
    int16_t magY;
    int16_t magZ;
    uint8_t index;
};

struct PACKED log_EKF3 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t innovVN;
    int16_t innovVE;
    int16_t innovVD;
    int16_t innovPN;
    int16_t innovPE;
    int16_t innovPD;
    int16_t innovMX;
    int16_t innovMY;
    int16_t innovMZ;
    int16_t innovVT;
};

struct PACKED log_NKF3 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t innovVN;
    int16_t innovVE;
    int16_t innovVD;
    int16_t innovPN;
    int16_t innovPE;
    int16_t innovPD;
    int16_t innovMX;
    int16_t innovMY;
    int16_t innovMZ;
    int16_t innovYaw;
    int16_t innovVT;
};

struct PACKED log_EKF4 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t sqrtvarV;
    int16_t sqrtvarP;
    int16_t sqrtvarH;
    int16_t sqrtvarMX;
    int16_t sqrtvarMY;
    int16_t sqrtvarMZ;
    int16_t sqrtvarVT;
    int8_t  offsetNorth;
    int8_t  offsetEast;
    uint16_t faults;
    uint8_t timeouts;
    uint16_t solution;
    uint16_t gps;
};

struct PACKED log_NKF4 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t sqrtvarV;
    int16_t sqrtvarP;
    int16_t sqrtvarH;
    int16_t sqrtvarM;
    int16_t sqrtvarVT;
    float   tiltErr;
    int8_t  offsetNorth;
    int8_t  offsetEast;
    uint16_t faults;
    uint8_t timeouts;
    uint16_t solution;
    uint16_t gps;
    int8_t primary;
};

struct PACKED log_EKF5 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t normInnov;
    int16_t FIX;
    int16_t FIY;
    int16_t AFI;
    int16_t HAGL;
    int16_t offset;
    int16_t RI;
    uint16_t meaRng;
    uint16_t errHAGL;
};

struct PACKED log_NKF5 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t normInnov;
    int16_t FIX;
    int16_t FIY;
    int16_t AFI;
    int16_t HAGL;
    int16_t offset;
    int16_t RI;
    uint16_t meaRng;
    uint16_t errHAGL;
    float angErr;
    float velErr;
    float posErr;
};

struct PACKED log_Quaternion {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float q1;
    float q2;
    float q3;
    float q4;
};

struct PACKED log_RngBcnDebug {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t ID;             // beacon identifier
    int16_t rng;            // beacon range (cm)
    int16_t innov;          // beacon range innovation (cm)
    uint16_t sqrtInnovVar;  // sqrt of beacon range innovation variance (cm)
    uint16_t testRatio;     // beacon range innovation consistency test ratio *100
    int16_t beaconPosN;     // beacon north position (cm)
    int16_t beaconPosE;     // beacon east position (cm)
    int16_t beaconPosD;     // beacon down position (cm)
    int16_t offsetHigh;     // high estimate of vertical position offset of beacons rel to EKF origin (cm)
    int16_t offsetLow;      // low estimate of vertical position offset of beacons rel to EKF origin (cm)
    int16_t posN;           // North position of receiver rel to EKF origin (cm)
    int16_t posE;           // East position of receiver rel to EKF origin (cm)
    int16_t posD;           // Down position of receiver rel to EKF origin (cm)
};

// visual odometry sensor data
struct PACKED log_VisualOdom {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float time_delta;
    float angle_delta_x;
    float angle_delta_y;
    float angle_delta_z;
    float position_delta_x;
    float position_delta_y;
    float position_delta_z;
    float confidence;
};

struct PACKED log_ekfBodyOdomDebug {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float velInnovX;
    float velInnovY;
    float velInnovZ;
    float velInnovVarX;
    float velInnovVarY;
    float velInnovVarZ;
};

struct PACKED log_ekfStateVar {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float v00;
    float v01;
    float v02;
    float v03;
    float v04;
    float v05;
    float v06;
    float v07;
    float v08;
    float v09;
    float v10;
    float v11;
};

struct PACKED log_Cmd {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t command_total;
    uint16_t sequence;
    uint16_t command;
    float param1;
    float param2;
    float param3;
    float param4;
    float latitude;
    float longitude;
    float altitude;
    uint8_t frame;
};

struct PACKED log_Radio {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t rssi;
    uint8_t remrssi;
    uint8_t txbuf;
    uint8_t noise;
    uint8_t remnoise;
    uint16_t rxerrors;
    uint16_t fixed;
};

struct PACKED log_Camera {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint32_t gps_time;
    uint16_t gps_week;
    int32_t  latitude;
    int32_t  longitude;
    int32_t  altitude;
    int32_t  altitude_rel;
    int32_t  altitude_gps;
    int16_t  roll;
    int16_t  pitch;
    uint16_t yaw;
};

struct PACKED log_Attitude {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t  control_roll;
    int16_t  roll;
    int16_t  control_pitch;
    int16_t  pitch;
    uint16_t control_yaw;
    uint16_t yaw;
    uint16_t error_rp;
    uint16_t error_yaw;
};

struct PACKED log_PID {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float   desired;
    float   P;
    float   I;
    float   D;
    float   FF;
    float   AFF;
};

struct PACKED log_Current {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float    voltage;
    float    voltage_resting;
    float    current_amps;
    float    current_total;
    float    consumed_wh;
    int16_t  temperature; // degrees C * 100
    float    resistance;
};

struct PACKED log_Current_Cells {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float    voltage;
    uint16_t cell_voltages[10];
};

struct PACKED log_Compass {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int16_t  mag_x;
    int16_t  mag_y;
    int16_t  mag_z;
    int16_t  offset_x;
    int16_t  offset_y;
    int16_t  offset_z;
    int16_t  motor_offset_x;
    int16_t  motor_offset_y;
    int16_t  motor_offset_z;
    uint8_t  health;
    uint32_t SUS;
};

struct PACKED log_Mode {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t mode;
    uint8_t mode_num;
    uint8_t mode_reason;
};

/*
  rangefinder - support for 4 sensors
 */
struct PACKED log_RFND {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t dist1;
    uint8_t orient1;
    uint16_t dist2;
    uint8_t orient2;
};

/*
  terrain log structure
 */
struct PACKED log_TERRAIN {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t status;
    int32_t lat;
    int32_t lng;
    uint16_t spacing;
    float terrain_height;
    float current_height;
    uint16_t pending;
    uint16_t loaded;
};

/*
  UBlox logging
 */
struct PACKED log_Ubx1 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t  instance;
    uint16_t noisePerMS;
    uint8_t  jamInd;
    uint8_t  aPower;
    uint16_t agcCnt;
    uint32_t config;
};

struct PACKED log_Ubx2 {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t  instance;
    int8_t   ofsI;
    uint8_t  magI;
    int8_t   ofsQ;
    uint8_t  magQ;
};

struct PACKED log_GPS_RAW {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    int32_t iTOW;
    int16_t week;
    uint8_t numSV;
    uint8_t sv;
    double cpMes;
    double prMes;
    float doMes;
    int8_t mesQI;
    int8_t cno;
    uint8_t lli;
};

struct PACKED log_GPS_RAWH {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    double rcvTow;
    uint16_t week;
    int8_t leapS;
    uint8_t numMeas;
    uint8_t recStat;
};

struct PACKED log_GPS_RAWS {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    double prMes;
    double cpMes;
    float doMes;
    uint8_t gnssId;
    uint8_t svId;
    uint8_t freqId;
    uint16_t locktime;
    uint8_t cno;
    uint8_t prStdev;
    uint8_t cpStdev;
    uint8_t doStdev;
    uint8_t trkStat;
};

struct PACKED log_GPS_SBF_EVENT {  
    LOG_PACKET_HEADER; 
    uint64_t time_us;
    uint32_t TOW;
    uint16_t WNc;
    uint8_t Mode;
    uint8_t Error;
    double Latitude;
    double Longitude;
    double Height;
    float Undulation;
    float Vn;
    float Ve;
    float Vu;
    float COG;
};

struct PACKED log_Esc {
    LOG_PACKET_HEADER;
    uint64_t time_us;     
    int32_t rpm;
    uint16_t voltage;
    uint16_t current;
    int16_t temperature;
    uint16_t current_tot;
};

struct PACKED log_AIRSPEED {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float   airspeed;
    float   diffpressure;
    int16_t temperature;
    float   rawpressure;
    float   offset;
    bool    use;
    bool    healthy;
    uint8_t primary;
};

struct PACKED log_ACCEL {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint64_t sample_us;
    float AccX, AccY, AccZ;
};

struct PACKED log_GYRO {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint64_t sample_us;
    float GyrX, GyrY, GyrZ;
};

struct PACKED log_DF_MAV_Stats {
    LOG_PACKET_HEADER;
    uint32_t timestamp;
    uint32_t seqno;
    uint32_t dropped;
    uint32_t retries;
    uint32_t resends;
    uint8_t internal_errors; // uint8_t - wishful thinking?
    uint8_t state_free_avg;
    uint8_t state_free_min;
    uint8_t state_free_max;
    uint8_t state_pending_avg;
    uint8_t state_pending_min;
    uint8_t state_pending_max;
    uint8_t state_sent_avg;
    uint8_t state_sent_min;
    uint8_t state_sent_max;
    // uint8_t state_retry_avg;
    // uint8_t state_retry_min;
    // uint8_t state_retry_max;
};

struct PACKED log_ORGN {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t origin_type;
    int32_t latitude;
    int32_t longitude;
    int32_t altitude;
};

struct PACKED log_RPM {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float rpm1;
    float rpm2;
};

struct PACKED log_Rate {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float   control_roll;
    float   roll;
    float   roll_out;
    float   control_pitch;
    float   pitch;
    float   pitch_out;
    float   control_yaw;
    float   yaw;
    float   yaw_out;
    float   control_accel;
    float   accel;
    float   accel_out;
};

// #if SBP_HW_LOGGING

struct PACKED log_SbpLLH {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint32_t tow;
    int32_t  lat;
    int32_t  lon;
    int32_t  alt;
    uint8_t  n_sats;
    uint8_t  flags;
};

struct PACKED log_SbpHealth {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint32_t crc_error_counter;
    uint32_t last_injected_data_ms;
    uint32_t last_iar_num_hypotheses;
};

struct PACKED log_SbpRAWH {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t msg_type;
    uint16_t sender_id;
    uint8_t index;
    uint8_t pages;
    uint8_t msg_len;
    uint8_t res;
    uint8_t data[48];
};

struct PACKED log_SbpRAWM {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t msg_type;
    uint16_t sender_id;
    uint8_t index;
    uint8_t pages;
    uint8_t msg_len;
    uint8_t res;
    uint8_t data[104];
};

struct PACKED log_SbpEvent {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t wn;
    uint32_t tow;
    int32_t ns_residual;
    uint8_t level;
    uint8_t quality;
};

struct PACKED log_Rally {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t total;
    uint8_t sequence;
    int32_t latitude;
    int32_t longitude;
    int16_t altitude;
};

struct PACKED log_AOA_SSA {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    float AOA;
    float SSA;
};

struct PACKED log_Beacon {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t health;
    uint8_t count;
    float dist0;
    float dist1;
    float dist2;
    float dist3;
    float posx;
    float posy;
    float posz;
};

// proximity sensor logging
struct PACKED log_Proximity {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t health;
    float dist0;
    float dist45;
    float dist90;
    float dist135;
    float dist180;
    float dist225;
    float dist270;
    float dist315;
    float distup;
    float closest_angle;
    float closest_dist;
};

struct PACKED log_Performance {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint16_t num_long_running;
    uint16_t num_loops;
    uint32_t max_time;
    uint32_t mem_avail;
    uint16_t load;
};

struct PACKED log_SRTL {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t active;
    uint16_t num_points;
    uint16_t max_points;
    uint8_t action;
    float N;
    float E;
    float D;
};

struct PACKED log_DSTL {
    LOG_PACKET_HEADER;
    uint64_t time_us;
    uint8_t stage;
    float target_heading;
    int32_t target_lat;
    int32_t target_lng;
    int32_t target_alt;
    int16_t crosstrack_error;
    int16_t travel_distance;
    float l1_i;
    int32_t loiter_sum_cd;
    float desired;
    float P;
    float I;
    float D;
};

// #endif // SBP_HW_LOGGING

// FMT messages define all message formats other than FMT
// UNIT messages define units which can be referenced by FMTU messages
// FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields

#define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
#define ACC_FMT   "QQfff"
#define ACC_UNITS "ssnnn"
#define ACC_MULTS "FF000"

// see "struct sensor" in AP_Baro.h and "Log_Write_Baro":
#define BARO_LABELS "TimeUS,Alt,Press,Temp,CRt,SMS,Offset,GndTemp"
#define BARO_FMT   "QffcfIff"
#define BARO_UNITS "smPOnsmO"
#define BARO_MULTS "F00B0C?0"

#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot"
#define ESC_FMT   "QeCCcH"
#define ESC_UNITS "sqvAO-"
#define ESC_MULTS "FBBBB-"

#define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,VV,SMS,Delta"
#define GPA_FMT   "QCCCCBIH"
#define GPA_UNITS "smmmn-ss"
#define GPA_MULTS "FBBBB-CF"

// see "struct GPS_State" and "Log_Write_GPS":
#define GPS_LABELS "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,U"
#define GPS_FMT   "QBIHBcLLefffB"
#define GPS_UNITS "s---SmDUmnhn-"
#define GPS_MULTS "F---0BGGBBB0-"

#define GYR_LABELS "TimeUS,SampleUS,GyrX,GyrY,GyrZ"
#define GYR_FMT    "QQfff"
#define GYR_UNITS  "ssEEE"
#define GYR_MULTS  "FF000"

#define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
#define IMT_FMT    "Qfffffffff"
#define IMT_UNITS  "ssssrrrnnn"
#define IMT_MULTS  "FF00000000"

#define ISBH_LABELS "TimeUS,N,type,instance,mul,smp_cnt,SampleUS,smp_rate"
#define ISBH_FMT    "QHBBHHQf"
#define ISBH_UNITS  "s-----sz"
#define ISBH_MULTS  "F-----F-"

#define ISBD_LABELS "TimeUS,N,seqno,x,y,z"
#define ISBD_FMT    "QHHaaa"
#define ISBD_UNITS  "s--ooo"
#define ISBD_MULTS  "F--???"

#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz"
#define IMU_FMT   "QffffffIIfBBHH"
#define IMU_UNITS "sEEEooo--O--zz"
#define IMU_MULTS "F000000-----00"

#define MAG_LABELS "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
#define MAG_FMT   "QhhhhhhhhhBI"
#define MAG_UNITS "sGGGGGGGGG-s"
#define MAG_MULTS "FCCCCCCCCC-F"

#define PID_LABELS "TimeUS,Des,P,I,D,FF,AFF"
#define PID_FMT    "Qffffff"
#define PID_UNITS  "s------"
#define PID_MULTS  "F------"

#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
#define QUAT_FMT    "Qffff"
#define QUAT_UNITS  "s????"
#define QUAT_MULTS  "F????"

#define CURR_LABELS "TimeUS,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res"
#define CURR_FMT    "Qfffffcf"
#define CURR_UNITS  "svvA?JOw"
#define CURR_MULTS  "F000?/?0"

#define CURR_CELL_LABELS "TimeUS,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10"
#define CURR_CELL_FMT    "QfHHHHHHHHHH"
#define CURR_CELL_UNITS  "svvvvvvvvvvv"
#define CURR_CELL_MULTS  "F00000000000"

#define ARSP_LABELS "TimeUS,Airspeed,DiffPress,Temp,RawPress,Offset,U,Health,Primary"
#define ARSP_FMT "QffcffBBB"
#define ARSP_UNITS "snPOPP---"
#define ARSP_MULTS "F00B00---"

/*
Format characters in the format string for binary log messages
  a   : int16_t[32]
  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
 */

// messages for all boards
#define LOG_BASE_STRUCTURES \
    { LOG_FORMAT_MSG, sizeof(log_Format), \
      "FMT", "BBnNZ",      "Type,Length,Name,Format,Columns", "-b---", "-----" },    \
    { LOG_UNIT_MSG, sizeof(log_Unit), \
      "UNIT", "QbZ",      "TimeUS,Id,Label", "s--","F--" },    \
    { LOG_FORMAT_UNITS_MSG, sizeof(log_Format_Units), \
      "FMTU", "QBNN",      "TimeUS,FmtType,UnitIds,MultIds","s---", "F---" },   \
    { LOG_MULT_MSG, sizeof(log_Format_Multiplier), \
      "MULT", "Qbd",      "TimeUS,Id,Mult", "s--","F--" },   \
    { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
     "PARM", "QNf",        "TimeUS,Name,Value", "s--", "F--"  },       \
    { LOG_GPS_MSG, sizeof(log_GPS), \
      "GPS",  GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
    { LOG_GPS2_MSG, sizeof(log_GPS), \
      "GPS2", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
    { LOG_GPSB_MSG, sizeof(log_GPS), \
      "GPSB", GPS_FMT, GPS_LABELS, GPS_UNITS, GPS_MULTS }, \
    { LOG_GPA_MSG,  sizeof(log_GPA), \
      "GPA",  GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
    { LOG_GPA2_MSG, sizeof(log_GPA), \
      "GPA2", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
    { LOG_GPAB_MSG, sizeof(log_GPA), \
      "GPAB", GPA_FMT, GPA_LABELS, GPA_UNITS, GPA_MULTS }, \
    { LOG_IMU_MSG, sizeof(log_IMU), \
      "IMU",  IMU_FMT,     IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
    { LOG_MESSAGE_MSG, sizeof(log_Message), \
      "MSG",  "QZ",     "TimeUS,Message", "s-", "F-"}, \
    { LOG_RCIN_MSG, sizeof(log_RCIN), \
      "RCIN",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sUUUUUUUUUUUUUU", "F--------------" }, \
    { LOG_RCOUT_MSG, sizeof(log_RCOUT), \
      "RCOU",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sUUUUUUUUUUUUUU", "F--------------"  }, \
    { LOG_RSSI_MSG, sizeof(log_RSSI), \
      "RSSI",  "Qf",     "TimeUS,RXRSSI", "s-", "F-"  }, \
    { LOG_BARO_MSG, sizeof(log_BARO), \
      "BARO",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
    { LOG_POWR_MSG, sizeof(log_POWR), \
      "POWR","QffHB","TimeUS,Vcc,VServo,Flags,Safety", "svv--", "FBB--" },  \
    { LOG_CMD_MSG, sizeof(log_Cmd), \
      "CMD", "QHHHfffffffB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
    { LOG_RADIO_MSG, sizeof(log_Radio), \
      "RAD", "QBBBBBHH", "TimeUS,RSSI,RemRSSI,TxBuf,Noise,RemNoise,RxErrors,Fixed", "s-------", "F-------" }, \
    { LOG_CAMERA_MSG, sizeof(log_Camera), \
      "CAM", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
    { LOG_TRIGGER_MSG, sizeof(log_Camera), \
      "TRIG", "QIHLLeeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,GPSAlt,Roll,Pitch,Yaw", "s--DUmmmddd", "F--GGBBBBBB" }, \
    { LOG_ARSP_MSG, sizeof(log_AIRSPEED), "ARSP",  ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
    { LOG_ASP2_MSG, sizeof(log_AIRSPEED), "ASP2",  ARSP_FMT, ARSP_LABELS, ARSP_UNITS, ARSP_MULTS }, \
    { LOG_CURRENT_MSG, sizeof(log_Current), \
      "BAT", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS },  \
    { LOG_CURRENT2_MSG, sizeof(log_Current), \
      "BAT2", CURR_FMT,CURR_LABELS,CURR_UNITS,CURR_MULTS }, \
    { LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
      "BCL", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
    { LOG_CURRENT_CELLS2_MSG, sizeof(log_Current_Cells), \
      "BCL2", CURR_CELL_FMT, CURR_CELL_LABELS, CURR_CELL_UNITS, CURR_CELL_MULTS }, \
    { LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
      "ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
    { LOG_COMPASS_MSG, sizeof(log_Compass), \
      "MAG", MAG_FMT,    MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
    { LOG_MODE_MSG, sizeof(log_Mode), \
      "MODE", "QMBB",         "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
    { LOG_RFND_MSG, sizeof(log_RFND), \
      "RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2", "sm-m-", "FB-B-" }, \
    { LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
      "DMS", "IIIIIBBBBBBBBBB",         "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "C--------------" }, \
    { LOG_BEACON_MSG, sizeof(log_Beacon), \
      "BCN", "QBBfffffff",  "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--BBBBBBB" }, \
    { LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
      "PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
    { LOG_PERFORMANCE_MSG, sizeof(log_Performance),                     \
      "PM",  "QHHIIH", "TimeUS,NLon,NLoop,MaxT,Mem,Load", "s---b%", "F---0A" }, \
    { LOG_SRTL_MSG, sizeof(log_SRTL), \
      "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }

// messages for more advanced boards
#define LOG_EXTRA_STRUCTURES \
    { LOG_IMU2_MSG, sizeof(log_IMU), \
      "IMU2",  IMU_FMT,     IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
    { LOG_IMU3_MSG, sizeof(log_IMU), \
      "IMU3",  IMU_FMT,     IMU_LABELS, IMU_UNITS, IMU_MULTS }, \
    { LOG_AHR2_MSG, sizeof(log_AHRS), \
      "AHR2","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4","sddhmDU????", "FBBB0GG????" }, \
    { LOG_POS_MSG, sizeof(log_POS), \
      "POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" }, \
    { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
      "SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
    { LOG_NKF1_MSG, sizeof(log_EKF1), \
      "NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
    { LOG_NKF2_MSG, sizeof(log_NKF2), \
      "NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
    { LOG_NKF3_MSG, sizeof(log_NKF3), \
      "NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
    { LOG_NKF4_MSG, sizeof(log_NKF4), \
      "NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
    { LOG_NKF5_MSG, sizeof(log_NKF5), \
      "NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
    { LOG_NKF6_MSG, sizeof(log_EKF1), \
      "NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
    { LOG_NKF7_MSG, sizeof(log_NKF2), \
      "NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
    { LOG_NKF8_MSG, sizeof(log_NKF3), \
      "NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
    { LOG_NKF9_MSG, sizeof(log_NKF4), \
      "NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
    { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
      "NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
    { LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
    { LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
    { LOG_XKF1_MSG, sizeof(log_EKF1), \
      "XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
    { LOG_XKF2_MSG, sizeof(log_NKF2a), \
      "XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
    { LOG_XKF3_MSG, sizeof(log_NKF3), \
      "XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
    { LOG_XKF4_MSG, sizeof(log_NKF4), \
      "XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
    { LOG_XKF5_MSG, sizeof(log_NKF5), \
      "XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
    { LOG_XKF6_MSG, sizeof(log_EKF1), \
      "XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
    { LOG_XKF7_MSG, sizeof(log_NKF2a), \
      "XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
    { LOG_XKF8_MSG, sizeof(log_NKF3), \
      "XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
    { LOG_XKF9_MSG, sizeof(log_NKF4), \
      "XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
    { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
      "XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
    { LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
    { LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
    { LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
      "XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
    { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
      "XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s------------", "F------------" }, \
    { LOG_XKV2_MSG, sizeof(log_ekfStateVar), \
      "XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s------------", "F------------" }, \
    { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
      "TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
    { LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
      "UBX1", "QBHBBHI",  "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------"  }, \
    { LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
      "UBX2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
    { LOG_GPS2_UBX1_MSG, sizeof(log_Ubx1), \
      "UBY1", "QBHBBHI",  "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s------", "F------"   }, \
    { LOG_GPS2_UBX2_MSG, sizeof(log_Ubx2), \
      "UBY2", "QBbBbB", "TimeUS,Instance,ofsI,magI,ofsQ,magQ", "s-----", "F-----" }, \
    { LOG_GPS_RAW_MSG, sizeof(log_GPS_RAW), \
      "GRAW", "QIHBBddfBbB", "TimeUS,WkMS,Week,numSV,sv,cpMes,prMes,doMes,mesQI,cno,lli", "s--S-------", "F--0-------" }, \
    { LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
      "GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
    { LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
      "GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
    { LOG_GPS_SBF_EVENT_MSG, sizeof(log_GPS_SBF_EVENT), \
      "SBFE", "QIHBBdddfffff", "TimeUS,TOW,WN,Mode,Err,Lat,Lng,Height,Undul,Vn,Ve,Vu,COG", "s----DUm-nnnh", "F----000-0000" }, \
    { LOG_ESC1_MSG, sizeof(log_Esc), \
      "ESC1",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC2_MSG, sizeof(log_Esc), \
      "ESC2",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC3_MSG, sizeof(log_Esc), \
      "ESC3",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC4_MSG, sizeof(log_Esc), \
      "ESC4",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC5_MSG, sizeof(log_Esc), \
      "ESC5",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC6_MSG, sizeof(log_Esc), \
      "ESC6",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC7_MSG, sizeof(log_Esc), \
      "ESC7",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_ESC8_MSG, sizeof(log_Esc), \
      "ESC8",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
    { LOG_COMPASS2_MSG, sizeof(log_Compass), \
      "MAG2",MAG_FMT,    MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
    { LOG_COMPASS3_MSG, sizeof(log_Compass), \
      "MAG3",MAG_FMT,    MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
    { LOG_ACC1_MSG, sizeof(log_ACCEL), \
      "ACC1", ACC_FMT,        ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
    { LOG_ACC2_MSG, sizeof(log_ACCEL), \
      "ACC2", ACC_FMT,        ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
    { LOG_ACC3_MSG, sizeof(log_ACCEL), \
      "ACC3", ACC_FMT,        ACC_LABELS, ACC_UNITS, ACC_MULTS }, \
    { LOG_GYR1_MSG, sizeof(log_GYRO), \
      "GYR1", GYR_FMT,        GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
    { LOG_GYR2_MSG, sizeof(log_GYRO), \
      "GYR2", GYR_FMT,        GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
    { LOG_GYR3_MSG, sizeof(log_GYRO), \
      "GYR3", GYR_FMT,        GYR_LABELS, GYR_UNITS, GYR_MULTS }, \
    { LOG_PIDR_MSG, sizeof(log_PID), \
      "PIDR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
    { LOG_PIDP_MSG, sizeof(log_PID), \
      "PIDP", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
    { LOG_PIDY_MSG, sizeof(log_PID), \
      "PIDY", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
    { LOG_PIDA_MSG, sizeof(log_PID), \
      "PIDA", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
    { LOG_PIDS_MSG, sizeof(log_PID), \
      "PIDS", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
    { LOG_DSTL_MSG, sizeof(log_DSTL), \
      "DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \
    { LOG_BAR2_MSG, sizeof(log_BARO), \
      "BAR2",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
    { LOG_BAR3_MSG, sizeof(log_BARO), \
      "BAR3",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
    { LOG_VIBE_MSG, sizeof(log_Vibe), \
      "VIBE", "QfffIII",     "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
    { LOG_IMUDT_MSG, sizeof(log_IMUDT), \
      "IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
    { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
      "IMT2",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
    { LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
      "IMT3",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
    { LOG_ISBH_MSG, sizeof(log_ISBH), \
      "ISBH",ISBH_FMT,ISBH_LABELS,ISBH_UNITS,ISBH_MULTS },  \
    { LOG_ISBD_MSG, sizeof(log_ISBD), \
      "ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
    { LOG_ORGN_MSG, sizeof(log_ORGN), \
      "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" },   \
    { LOG_DF_FILE_STATS, sizeof(log_DSF), \
      "DSF", "QIBHIIII", "TimeUS,Dp,IErr,Blk,Bytes,FMn,FMx,FAv", "s---b---", "F---0---" }, \
    { LOG_RPM_MSG, sizeof(log_RPM), \
      "RPM",  "Qff", "TimeUS,rpm1,rpm2", "sqq", "F00" }, \
    { LOG_GIMBAL1_MSG, sizeof(log_Gimbal1), \
      "GMB1", "Iffffffffff", "TimeMS,dt,dax,day,daz,dvx,dvy,dvz,jx,jy,jz", "ssrrrEEELLL", "CC000000000" }, \
    { LOG_GIMBAL2_MSG, sizeof(log_Gimbal2), \
      "GMB2", "IBfffffffff", "TimeMS,es,ex,ey,ez,rx,ry,rz,tx,ty,tz", "s-rrrEEELLL", "C-000000000" }, \
    { LOG_GIMBAL3_MSG, sizeof(log_Gimbal3), \
      "GMB3", "Ihhh", "TimeMS,rl_torque_cmd,el_torque_cmd,az_torque_cmd", "s???", "C???" }, \
    { LOG_RATE_MSG, sizeof(log_Rate), \
      "RATE", "Qffffffffffff",  "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" }, \
    { LOG_RALLY_MSG, sizeof(log_Rally), \
      "RALY", "QBBLLh", "TimeUS,Tot,Seq,Lat,Lng,Alt", "s--DUm", "F--GGB" },  \
    { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
      "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }


// #if SBP_HW_LOGGING
#define LOG_SBP_STRUCTURES \
    { LOG_MSG_SBPHEALTH, sizeof(log_SbpHealth), \
      "SBPH", "QIII", "TimeUS,CrcError,LastInject,IARhyp", "s---", "F---" }, \
    { LOG_MSG_SBPRAWH, sizeof(log_SbpRAWH), \
      "SBRH", "QQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6", "s--b----", "F--0----" }, \
    { LOG_MSG_SBPRAWM, sizeof(log_SbpRAWM), \
      "SBRM", "QQQQQQQQQQQQQQQ", "TimeUS,msg_flag,1,2,3,4,5,6,7,8,9,10,11,12,13", "s??????????????", "F??????????????" }, \
    { LOG_MSG_SBPEVENT, sizeof(log_SbpEvent), \
      "SBRE", "QHIiBB", "TimeUS,GWk,GMS,ns_residual,level,quality", "s?????", "F?????" }
// #endif

#define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES, LOG_SBP_STRUCTURES

// message types 0 to 63 reserved for vehicle specific use

// message types for common messages
enum LogMessages : uint8_t {
    LOG_NKF1_MSG = 64,
    LOG_NKF2_MSG,
    LOG_NKF3_MSG,
    LOG_NKF4_MSG,
    LOG_NKF5_MSG,
    LOG_NKF6_MSG,
    LOG_NKF7_MSG,
    LOG_NKF8_MSG,
    LOG_NKF9_MSG,
    LOG_NKF10_MSG,
    LOG_NKQ1_MSG,
    LOG_NKQ2_MSG,
    LOG_XKF1_MSG,
    LOG_XKF2_MSG,
    LOG_XKF3_MSG,
    LOG_XKF4_MSG,
    LOG_XKF5_MSG,
    LOG_XKF6_MSG,
    LOG_XKF7_MSG,
    LOG_XKF8_MSG,
    LOG_XKF9_MSG,
    LOG_XKF10_MSG,
    LOG_XKQ1_MSG,
    LOG_XKQ2_MSG,
    LOG_XKFD_MSG,
    LOG_XKV1_MSG,
    LOG_XKV2_MSG,

    LOG_FORMAT_MSG = 128, // this must remain #128

    LOG_PARAMETER_MSG,
    LOG_GPS_MSG,
    LOG_GPS2_MSG,
    LOG_GPSB_MSG,
    LOG_IMU_MSG,
    LOG_MESSAGE_MSG,
    LOG_RCIN_MSG,
    LOG_RCOUT_MSG,
    LOG_RSSI_MSG,
    LOG_IMU2_MSG,
    LOG_BARO_MSG,
    LOG_POWR_MSG,
    LOG_AHR2_MSG,
    LOG_SIMSTATE_MSG,
    LOG_CMD_MSG,
    LOG_RADIO_MSG,
    LOG_ATRP_MSG,
    LOG_CAMERA_MSG,
    LOG_IMU3_MSG,
    LOG_TERRAIN_MSG,
    LOG_GPS_UBX1_MSG,
    LOG_GPS_UBX2_MSG,
    LOG_GPS2_UBX1_MSG,
    LOG_GPS2_UBX2_MSG,
    LOG_ESC1_MSG,
    LOG_ESC2_MSG,
    LOG_ESC3_MSG,
    LOG_ESC4_MSG,
    LOG_ESC5_MSG,
    LOG_ESC6_MSG,
    LOG_ESC7_MSG,
    LOG_ESC8_MSG,
    LOG_BAR2_MSG,
    LOG_ARSP_MSG,
    LOG_ATTITUDE_MSG,
    LOG_CURRENT_MSG,
    LOG_CURRENT2_MSG,
    LOG_CURRENT_CELLS_MSG,
    LOG_CURRENT_CELLS2_MSG,
    LOG_COMPASS_MSG,
    LOG_COMPASS2_MSG,
    LOG_COMPASS3_MSG,
    LOG_MODE_MSG,
    LOG_GPS_RAW_MSG,
    LOG_GPS_RAWH_MSG,
    LOG_GPS_RAWS_MSG,
    LOG_GPS_SBF_EVENT_MSG,
    LOG_ACC1_MSG,
    LOG_ACC2_MSG,
    LOG_ACC3_MSG,
    LOG_GYR1_MSG,
    LOG_GYR2_MSG,
    LOG_GYR3_MSG,
    LOG_POS_MSG,
    LOG_PIDR_MSG,
    LOG_PIDP_MSG,
    LOG_PIDY_MSG,
    LOG_PIDA_MSG,
    LOG_PIDS_MSG,
    LOG_DSTL_MSG,
    LOG_VIBE_MSG,
    LOG_IMUDT_MSG,
    LOG_IMUDT2_MSG,
    LOG_IMUDT3_MSG,
    LOG_ORGN_MSG,
    LOG_RPM_MSG,
    LOG_GPA_MSG,
    LOG_GPA2_MSG,
    LOG_GPAB_MSG,
    LOG_RFND_MSG,
    LOG_BAR3_MSG,
    LOG_DF_MAV_STATS,
    LOG_FORMAT_UNITS_MSG,
    LOG_UNIT_MSG,
    LOG_MULT_MSG,

    LOG_MSG_SBPHEALTH,
    LOG_MSG_SBPLLH,
    LOG_MSG_SBPBASELINE,
    LOG_MSG_SBPTRACKING1,
    LOG_MSG_SBPTRACKING2,
    LOG_MSG_SBPRAWH,
    LOG_MSG_SBPRAWM,
    LOG_MSG_SBPEVENT,
    LOG_TRIGGER_MSG,

    LOG_GIMBAL1_MSG,
    LOG_GIMBAL2_MSG,
    LOG_GIMBAL3_MSG,
    LOG_RATE_MSG,
    LOG_RALLY_MSG,
    LOG_VISUALODOM_MSG,
    LOG_AOA_SSA_MSG,
    LOG_BEACON_MSG,
    LOG_PROXIMITY_MSG,
    LOG_DF_FILE_STATS,
    LOG_SRTL_MSG,
    LOG_ISBH_MSG,
    LOG_ISBD_MSG,
    LOG_ASP2_MSG,
    LOG_PERFORMANCE_MSG,
    _LOG_LAST_MSG_
};

static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats");

enum LogOriginType {
    ekf_origin = 0,
    ahrs_home = 1
};