AP_Logger: Log if BendyRuler has avoided changing directions

libraries/AP_Logger/AP_Logger.h

@@ -287,7 +287,7 @@ public:
     void Write_Beacon(AP_Beacon &beacon);
     void Write_Proximity(AP_Proximity &proximity);
     void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
-    void Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest);
+    void Write_OABendyRuler(bool active, float target_yaw, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest);
     void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
 
     void Write(const char *name, const char *labels, const char *fmt, ...);

libraries/AP_Logger/LogFile.cpp

@@ -1042,7 +1042,7 @@ void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points
     WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
 }
 
-void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest)
+void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest)
 {
     const struct log_OABendyRuler pkt{
         LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
@@ -1050,6 +1050,7 @@ void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin,
         active      : active,
         target_yaw  : (uint16_t)wrap_360(target_yaw),
         yaw         : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
+        resist_chg  : resist_chg,
         margin      : margin,
         final_lat   : final_dest.lat,
         final_lng   : final_dest.lng,

libraries/AP_Logger/LogStructure.h

@@ -1171,6 +1171,7 @@ struct PACKED log_OABendyRuler {
     uint8_t active;
     uint16_t target_yaw;
     uint16_t yaw;
+    bool resist_chg;
     float margin;
     int32_t final_lat;
     int32_t final_lng;
@@ -1844,6 +1845,7 @@ struct PACKED log_Arm_Disarm {
 // @Field: Active: True if Bendy Ruler avoidance is being used
 // @Field: DesYaw: Best yaw chosen to avoid obstacle
 // @Field: Yaw: Current vehicle yaw
+// @Field: ResChg: True if BendyRuler resisted changing bearing and continued in last calculated bearing
 // @Field: Mar: Margin from path to obstacle on best yaw chosen
 // @Field: DLat: Destination latitude
 // @Field: DLng: Destination longitude
@@ -2388,7 +2390,7 @@ struct PACKED log_Arm_Disarm {
     { LOG_SRTL_MSG, sizeof(log_SRTL), \
       "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
     { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
-      "OABR","QBHHfLLLL","TimeUS,Active,DesYaw,Yaw,Mar,DLat,DLng,OALat,OALng", "sbddmDUDU", "F----GGGG" }, \
+      "OABR","QBHHBfLLLL","TimeUS,Active,DesYaw,Yaw,ResChg,Mar,DLat,DLng,OALat,OALng", "sbdd-mDUDU", "F-----GGGG" }, \
     { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
       "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \
     { LOG_IMU2_MSG, sizeof(log_IMU), \