AP_Logger: VISP msg adds reset_counter

libraries/AP_Logger/AP_Logger.h

@@ -281,7 +281,7 @@ public:
                           uint8_t sequence,
                           const RallyLocation &rally_point);
     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
-    void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw);
+    void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, uint8_t reset_counter);
     void Write_AOA_SSA(AP_AHRS &ahrs);
     void Write_Beacon(AP_Beacon &beacon);
     void Write_Proximity(AP_Proximity &proximity);

libraries/AP_Logger/LogFile.cpp

@@ -915,7 +915,7 @@ void AP_Logger::Write_VisualOdom(float time_delta, const Vector3f &angle_delta,
 }
 
 // Write visual position sensor data.  x,y,z are in meters, angles are in degrees
-void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw)
+void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, uint8_t reset_counter)
 {
     const struct log_VisualPosition pkt_visualpos {
         LOG_PACKET_HEADER_INIT(LOG_VISUALPOS_MSG),
@@ -927,7 +927,8 @@ void AP_Logger::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms,
         pos_z           : z,
         roll            : roll,
         pitch           : pitch,
-        yaw             : yaw
+        yaw             : yaw,
+        reset_counter   : reset_counter
     };
     WriteBlock(&pkt_visualpos, sizeof(log_VisualPosition));
 }

libraries/AP_Logger/LogStructure.h

@@ -662,6 +662,7 @@ struct PACKED log_VisualPosition {
     float roll;     // degrees
     float pitch;    // degrees
     float yaw;      // degrees
+    uint8_t reset_counter;
 };
 
 struct PACKED log_ekfBodyOdomDebug {
@@ -2020,6 +2021,7 @@ struct PACKED log_Arm_Disarm {
 // @Field: Roll: Roll lean angle
 // @Field: Pitch: Pitch lean angle
 // @Field: Yaw: Yaw angle
+// @Field: ResetCnt: Position reset counter
 
 // @LoggerMessage: WENC
 // @Description: Wheel encoder measurements
@@ -2250,7 +2252,7 @@ struct PACKED log_Arm_Disarm {
     { LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
       "VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
     { LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
-      "VISP", "QQIffffff", "TimeUS,RemTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw", "sssmmmddh", "FFC000000" }, \
+      "VISP", "QQIffffffb", "TimeUS,RemTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,ResetCnt", "sssmmmddh-", "FFC000000-" }, \
     { LOG_OPTFLOW_MSG, sizeof(log_Optflow), \
       "OF",   "QBffff",   "TimeUS,Qual,flowX,flowY,bodyX,bodyY", "s-EEnn", "F-0000" }, \
     { LOG_WHEELENCODER_MSG, sizeof(log_WheelEncoder), \