Classes
struct	MessageFormat

Typedefs
using	MessageCallback = std::function< bool(uint8_t msgType, const char *payload, int payloadSize, const MessageFormat &fmt)>

Functions
int	formatCharSize (char c)

int	calculatePayloadSize (const QString &format)

float	halfToFloat (uint16_t bits)

QVariant	parseValue (const char *data, char formatChar)

QMap< QString, QVariant >	parseMessage (const char *data, const MessageFormat &fmt)

bool	isValidHeader (const char *data, qint64 size)

qint64	findNextHeader (const char *data, qint64 size, qint64 offset)

MessageFormat	parseFmtPayload (const char *data)

bool	parseFmtMessages (const char *data, qint64 size, QMap< uint8_t, MessageFormat > &formats)

int	iterateMessages (const char *data, qint64 size, const QMap< uint8_t, MessageFormat > &formats, const MessageCallback &callback)

Variables
constexpr uint8_t	kHeaderByte1 = 0xA3

constexpr uint8_t	kHeaderByte2 = 0x95

constexpr uint8_t	kFmtMessageType = 128

constexpr int	kFmtPayloadSize = 86

Typedef Documentation

◆ MessageCallback

using APMDataFlashUtility::MessageCallback = typedef std::function<bool(uint8_t msgType, const char *payload, int payloadSize, const MessageFormat &fmt)>

Callback for message iteration

Parameters

msgType	Message type
payload	Pointer to message payload (after header)
payloadSize	Size of payload
fmt	MessageFormat for this message type

Returns: true to continue iteration, false to stop

Definition at line 114 of file APMDataFlashUtility.h.

Function Documentation

◆ calculatePayloadSize()

int APMDataFlashUtility::calculatePayloadSize ( const QString & format )

Calculate total payload size from a format string

Parameters

format Format string (e.g., "QBILLefffff")

Returns: Total size in bytes

Definition at line 37 of file APMDataFlashUtility.cc.

References calculatePayloadSize(), and formatCharSize().

Referenced by calculatePayloadSize().

◆ findNextHeader()

qint64 APMDataFlashUtility::findNextHeader	(	const char *	data,
		qint64	size,
		qint64	offset
	)

Find the next message header starting from offset

Parameters

data	Pointer to data
size	Total size of data
offset	Starting position to search from

Returns: Offset of next header, or -1 if not found

Definition at line 200 of file APMDataFlashUtility.cc.

References findNextHeader(), kHeaderByte1, and kHeaderByte2.

Referenced by findNextHeader().

◆ formatCharSize()

int APMDataFlashUtility::formatCharSize ( char c )

Get the byte size for a DataFlash format character

Parameters

c	Format character (from pymavlink FORMAT_TO_STRUCT)

Returns: Size in bytes, or 0 for unknown format characters

Definition at line 15 of file APMDataFlashUtility.cc.

References formatCharSize().

Referenced by calculatePayloadSize(), formatCharSize(), and parseMessage().

◆ halfToFloat()

float APMDataFlashUtility::halfToFloat ( uint16_t bits )

Convert IEEE 754 binary16 (half-precision) to single-precision float

Parameters

bits	16-bit half-precision representation

Returns: Converted float value

Definition at line 50 of file APMDataFlashUtility.cc.

References halfToFloat().

Referenced by halfToFloat(), and parseValue().

◆ isValidHeader()

bool APMDataFlashUtility::isValidHeader	(	const char *	data,
		qint64	size
	)

Check if data starts with a valid DataFlash header

Parameters

data	Pointer to data
size	Size of available data

Returns: true if data starts with 0xA3 0x95

Definition at line 191 of file APMDataFlashUtility.cc.

References isValidHeader(), kHeaderByte1, and kHeaderByte2.

Referenced by DataFlashParser::getTagsFromLog(), isValidHeader(), and parseFmtMessages().

◆ iterateMessages()

int APMDataFlashUtility::iterateMessages	(	const char *	data,
		qint64	size,
		const QMap< uint8_t, MessageFormat > &	formats,
		const MessageCallback &	callback
	)

Iterate over all messages in a DataFlash log

Parameters

data	Pointer to complete log data
size	Size of log data
formats	Message formats from parseFmtMessages()
callback	Function called for each message

Returns: Number of messages processed

Definition at line 275 of file APMDataFlashUtility.cc.

References iterateMessages(), kHeaderByte1, kHeaderByte2, and APMDataFlashUtility::MessageFormat::length.

Referenced by DataFlashParser::getTagsFromLog(), iterateMessages(), and DataFlashParser::parseFile().

◆ parseFmtMessages()

bool APMDataFlashUtility::parseFmtMessages	(	const char *	data,
		qint64	size,
		QMap< uint8_t, MessageFormat > &	formats
	)

Parse all FMT messages from a DataFlash log (first pass)

Parameters

data	Pointer to complete log data
size	Size of log data
formats	Output map of message type -> MessageFormat

Returns: true if any FMT messages were found

Definition at line 228 of file APMDataFlashUtility.cc.

References isValidHeader(), kFmtMessageType, kFmtPayloadSize, kHeaderByte1, kHeaderByte2, parseFmtMessages(), parseFmtPayload(), and APMDataFlashUtility::MessageFormat::type.

Referenced by DataFlashParser::getTagsFromLog(), DataFlashParser::parseFile(), and parseFmtMessages().

◆ parseFmtPayload()

MessageFormat APMDataFlashUtility::parseFmtPayload ( const char * data )

Parse an FMT message payload into a MessageFormat structure

Parameters

data	Pointer to FMT payload (86 bytes: Type(1)+Length(1)+Name(4)+Format(16)+Columns(64))

Returns: Parsed MessageFormat

Definition at line 216 of file APMDataFlashUtility.cc.

References APMDataFlashUtility::MessageFormat::columns, APMDataFlashUtility::MessageFormat::format, APMDataFlashUtility::MessageFormat::length, APMDataFlashUtility::MessageFormat::name, parseFmtPayload(), and APMDataFlashUtility::MessageFormat::type.

Referenced by parseFmtMessages(), and parseFmtPayload().

◆ parseMessage()

QMap< QString, QVariant > APMDataFlashUtility::parseMessage	(	const char *	data,
		const MessageFormat &	fmt
	)

Parse message data into a map of field name -> value

Parameters

data	Pointer to the message payload (after header)
fmt	Message format definition

Returns: Map of column name to parsed value

Definition at line 166 of file APMDataFlashUtility.cc.

References APMDataFlashUtility::MessageFormat::columns, APMDataFlashUtility::MessageFormat::format, formatCharSize(), parseMessage(), and parseValue().

Referenced by DataFlashParser::getTagsFromLog(), and parseMessage().

◆ parseValue()

QVariant APMDataFlashUtility::parseValue	(	const char *	data,
		char	formatChar
	)

Parse a value from binary data based on format character Handles scaling for special types:

'c'/'C': Centi-degrees (divide by 100)
'e'/'E': Centi-units (divide by 100)
'L': Lat/Lon (divide by 1e7)
'g': Half-precision float (IEEE 754 binary16)
Parameters

data Pointer to binary data

formatChar Format character

Returns
QVariant containing the parsed value

Definition at line 74 of file APMDataFlashUtility.cc.

References halfToFloat(), and parseValue().

Referenced by parseMessage(), and parseValue().

Variable Documentation

◆ kFmtMessageType

constexpr uint8_t APMDataFlashUtility::kFmtMessageType = 128

constexpr

Definition at line 21 of file APMDataFlashUtility.h.

Referenced by parseFmtMessages().

◆ kFmtPayloadSize

constexpr int APMDataFlashUtility::kFmtPayloadSize = 86

constexpr

Definition at line 22 of file APMDataFlashUtility.h.

Referenced by parseFmtMessages().

◆ kHeaderByte1

constexpr uint8_t APMDataFlashUtility::kHeaderByte1 = 0xA3

constexpr

Definition at line 19 of file APMDataFlashUtility.h.

Referenced by findNextHeader(), isValidHeader(), iterateMessages(), and parseFmtMessages().

◆ kHeaderByte2

constexpr uint8_t APMDataFlashUtility::kHeaderByte2 = 0x95

constexpr

Definition at line 20 of file APMDataFlashUtility.h.

Referenced by findNextHeader(), isValidHeader(), iterateMessages(), and parseFmtMessages().

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ MessageCallback

Function Documentation

◆ calculatePayloadSize()

◆ findNextHeader()

◆ formatCharSize()

◆ halfToFloat()

◆ isValidHeader()

◆ iterateMessages()

◆ parseFmtMessages()

◆ parseFmtPayload()

◆ parseMessage()

◆ parseValue()

Variable Documentation

◆ kFmtMessageType

◆ kFmtPayloadSize

◆ kHeaderByte1

◆ kHeaderByte2