I’m trying to parse mavlink messages and create a log file (.log) that mission planner can understand.
Log files starts with the definition of each message and then It has the messages. The file looks like:
FMT, 128, 89, FMT, BBnNZ, Type,Length,Name,Format,Columns FMT, 130, 50, GPS, QBIHBcLLeffffB, TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U GPS, 205599926, 3, 215463999, 2197, 13, 0.75, 39.000000, -7.00000, 22.44, 0.02408319, 138.3665, 0.054, 0, 1
We can see the type of GPS message is 130. How it is calculated?
I readed some part of the ardupilot code.
In the file AP_GPS.cpp (line 2090, code) , there is a struct called log_GPS. In the header, it is specified the id which is LOG_GPS_MSG = 86u. But this id is not equal to 130. How is calculated the type of each message?
Thanks in advanced.