AP_Logger: log MCU temperature and voltage

libraries/AP_Logger/LogFile.cpp

@@ -293,6 +293,16 @@ void AP_Logger::Write_Power(void)
         // encode armed state in bit 3
         safety_and_armed |= 1U<<2;
     }
+    float MCU_temp = 0;
+    float MCU_voltage = 0;
+    float MCU_vmin = 0;
+    float MCU_vmax = 0;
+#if HAL_WITH_MCU_MONITORING
+    MCU_temp = hal.analogin->mcu_temperature();
+    MCU_voltage = hal.analogin->mcu_voltage();
+    MCU_vmin = hal.analogin->mcu_voltage_min();
+    MCU_vmax = hal.analogin->mcu_voltage_max();
+#endif
     const struct log_POWR pkt{
         LOG_PACKET_HEADER_INIT(LOG_POWR_MSG),
         time_us : AP_HAL::micros64(),
@@ -300,7 +310,11 @@ void AP_Logger::Write_Power(void)
         Vservo  : hal.analogin->servorail_voltage(),
         flags   : hal.analogin->power_status_flags(),
         accumulated_flags   : hal.analogin->accumulated_power_status_flags(),
-        safety_and_arm : safety_and_armed
+        safety_and_arm : safety_and_armed,
+        MCU_temp : MCU_temp,
+        MCU_voltage : MCU_voltage,
+        MCU_voltage_min : MCU_vmin,
+        MCU_voltage_max : MCU_vmax,
     };
     WriteBlock(&pkt, sizeof(pkt));
 #endif

libraries/AP_Logger/LogStructure.h

@@ -309,6 +309,10 @@ struct PACKED log_POWR {
     uint16_t flags;
     uint16_t accumulated_flags;
     uint8_t safety_and_arm;
+    float MCU_temp;
+    float MCU_voltage;
+    float MCU_voltage_min;
+    float MCU_voltage_max;
 };
 
 struct PACKED log_Cmd {
@@ -1003,6 +1007,10 @@ struct PACKED log_PSCZ {
 // @Field: Flags: System power flags
 // @Field: AccFlags: Accumulated System power flags; all flags which have ever been set
 // @Field: Safety: Hardware Safety Switch status
+// @Field: MTemp: MCU Temperature
+// @Field: MVolt: MCU Voltage
+// @Field: MVmin: MCU Voltage min
+// @Field: MVmax: MCU Voltage max
 
 // @LoggerMessage: PRX
 // @Description: Proximity Filtered sensor data
@@ -1237,7 +1245,7 @@ LOG_STRUCTURE_FROM_GPS \
 LOG_STRUCTURE_FROM_BARO \
 LOG_STRUCTURE_FROM_PRECLAND \
     { LOG_POWR_MSG, sizeof(log_POWR), \
-      "POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \
+      "POWR","QffHHBffff","TimeUS,Vcc,VServo,Flags,AccFlags,Safety,MTemp,MVolt,MVmin,MVmax", "svv---Ovvv", "F00---0000", true }, \
     { LOG_CMD_MSG, sizeof(log_Cmd), \
       "CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
     { LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \