AP_DAL: update GPS yaw API to add timestamp

libraries/AP_DAL/AP_DAL_GPS.cpp

@@ -57,7 +57,7 @@ void AP_DAL_GPS::start_frame()
 
         RGPJ.velocity = gps.velocity(i);
         RGPI.speed_accuracy_returncode = gps.speed_accuracy(i, RGPJ.sacc);
-        RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg);
+        RGPI.gps_yaw_deg_returncode = gps.gps_yaw_deg(i, RGPJ.yaw_deg, RGPJ.yaw_accuracy_deg, RGPJ.yaw_deg_time_ms);
 
         WRITE_REPLAY_BLOCK_IFCHANGED(RGPI, RGPI, old_RGPI);
         WRITE_REPLAY_BLOCK_IFCHANGED(RGPJ, RGPJ, old_RGPJ);

libraries/AP_DAL/AP_DAL_GPS.h

@@ -92,13 +92,10 @@ public:
         return speed_accuracy(primary_sensor(), sacc);
     }
 
-    bool gps_yaw_deg(float &yaw_deg, float &accuracy_deg) const {
-        return gps_yaw_deg(_RGPH.primary_sensor, yaw_deg, accuracy_deg);
-    }
-
-    bool gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg) const {
+    bool gps_yaw_deg(uint8_t instance, float &yaw_deg, float &accuracy_deg, uint32_t &time_ms) const {
         yaw_deg = _RGPJ[instance].yaw_deg;
         accuracy_deg = _RGPJ[instance].yaw_accuracy_deg;
+        time_ms = _RGPJ[instance].yaw_deg_time_ms;
         return _RGPI[instance].gps_yaw_deg_returncode;
     }
 

libraries/AP_DAL/LogStructure.h

@@ -208,6 +208,7 @@ struct log_RGPJ {
     float sacc;
     float yaw_deg;
     float yaw_accuracy_deg;
+    uint32_t yaw_deg_time_ms;
     int32_t lat;
     int32_t lng;
     int32_t alt;
@@ -399,7 +400,7 @@ struct log_RBOH {
     { LOG_RGPI_MSG, RLOG_SIZE(RGPI),                                   \
       "RGPI", "ffffBBBB", "OX,OY,OZ,Lg,Flags,Stat,NSats,I", "-------#", "--------" }, \
     { LOG_RGPJ_MSG, RLOG_SIZE(RGPJ),                                   \
-      "RGPJ", "IffffffiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,Lat,Lon,Alt,HA,VA,HD,I", "-------------#", "--------------" }, \
+      "RGPJ", "IffffffIiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,YT,Lat,Lon,Alt,HA,VA,HD,I", "--------------#", "---------------" }, \
     { LOG_RMGH_MSG, RLOG_SIZE(RMGH),                                   \
       "RMGH", "BBfBBBB", "Dec,NumInst,AutoDec,NumEna,LOE,C,FUsable", "-------", "-------" },  \
     { LOG_RMGI_MSG, RLOG_SIZE(RMGI),                                   \