DataFlash: consolidate GPS, GPS2 messages

Remove unused dgps_numch, dgps_age from GPS2
Add U field (for use) to both GPS and GPS2

libraries/DataFlash/DataFlash.h

@@ -184,24 +184,7 @@ struct PACKED log_GPS {
     uint32_t ground_speed;
     int32_t  ground_course;
     float    vel_z;
-};
-
-struct PACKED log_GPS2 {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t  status;
-    uint32_t gps_week_ms;
-    uint16_t gps_week;
-    uint8_t  num_sats;
-    uint16_t hdop;
-    int32_t  latitude;
-    int32_t  longitude;
-    int32_t  altitude;
-    uint32_t ground_speed;
-    int32_t  ground_course;
-    float    vel_z;
-    uint8_t  dgps_numch;
-    uint32_t dgps_age;
+    uint8_t  used;
 };
 
 struct PACKED log_Message {
@@ -647,7 +630,7 @@ Format characters in the format string for binary log messages
     { LOG_PARAMETER_MSG, sizeof(log_Parameter), \
       "PARM", "QNf",        "TimeUS,Name,Value" },    \
     { LOG_GPS_MSG, sizeof(log_GPS), \
-      "GPS",  "QBIHBcLLeeEef", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ" }, \
+      "GPS",  "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
     { LOG_IMU_MSG, sizeof(log_IMU), \
       "IMU",  "QffffffIIfBB",     "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
     { LOG_MESSAGE_MSG, sizeof(log_Message), \
@@ -679,8 +662,8 @@ Format characters in the format string for binary log messages
 
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
-    { LOG_GPS2_MSG, sizeof(log_GPS2), \
-      "GPS2",  "QBIHBcLLeEefBI", "TimeUS,Status,GMS,GWk,NSats,HDp,Lat,Lng,Alt,Spd,GCrs,VZ,DSc,DAg" }, \
+    { LOG_GPS2_MSG, sizeof(log_GPS), \
+      "GPS2",  "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
     { LOG_IMU2_MSG, sizeof(log_IMU), \
       "IMU2",  "QffffffIIfBB",     "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt" }, \
     { LOG_IMU3_MSG, sizeof(log_IMU), \
@@ -783,6 +766,7 @@ enum LogMessages {
     LOG_FORMAT_MSG = 128,
     LOG_PARAMETER_MSG,
     LOG_GPS_MSG,
+    LOG_GPS2_MSG,
     LOG_IMU_MSG,
     LOG_MESSAGE_MSG,
     LOG_RCIN_MSG,
@@ -796,7 +780,6 @@ enum LogMessages {
     LOG_EKF2_MSG,
     LOG_EKF3_MSG,
     LOG_EKF4_MSG,
-    LOG_GPS2_MSG,
     LOG_CMD_MSG,
     LOG_RADIO_MSG,
     LOG_ATRP_MSG,

libraries/DataFlash/LogFile.cpp

@@ -706,49 +706,25 @@ void DataFlash_Class::Log_Write_Parameters(void)
 // Write an GPS packet
 void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relative_alt)
 {
-    if (i == 0) {
-        const struct Location &loc = gps.location(i);
-        struct log_GPS pkt = {
-            LOG_PACKET_HEADER_INIT(LOG_GPS_MSG),
-            time_us       : hal.scheduler->micros64(),
-            status        : (uint8_t)gps.status(i),
-            gps_week_ms   : gps.time_week_ms(i),
-            gps_week      : gps.time_week(i),
-            num_sats      : gps.num_sats(i),
-            hdop          : gps.get_hdop(i),
-            latitude      : loc.lat,
-            longitude     : loc.lng,
-            rel_altitude  : relative_alt,
-            altitude      : loc.alt,
-            ground_speed  : (uint32_t)(gps.ground_speed(i) * 100),
-            ground_course : gps.ground_course_cd(i),
-            vel_z         : gps.velocity(i).z,
-        };
-        WriteBlock(&pkt, sizeof(pkt));
-    }
-#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
-    if (i > 0) {
-        const struct Location &loc2 = gps.location(i);
-        struct log_GPS2 pkt2 = {
-            LOG_PACKET_HEADER_INIT(LOG_GPS2_MSG),
-            time_us       : hal.scheduler->micros64(),
-            status        : (uint8_t)gps.status(i),
-            gps_week_ms   : gps.time_week_ms(i),
-            gps_week      : gps.time_week(i),
-            num_sats      : gps.num_sats(i),
-            hdop          : gps.get_hdop(i),
-            latitude      : loc2.lat,
-            longitude     : loc2.lng,
-            altitude      : loc2.alt,
-            ground_speed  : (uint32_t)(gps.ground_speed(i)*100),
-            ground_course : gps.ground_course_cd(i),
-            vel_z         : gps.velocity(i).z,
-            dgps_numch    : 0,
-            dgps_age      : 0
-        };
-        WriteBlock(&pkt2, sizeof(pkt2));
-    }
-#endif
+    const struct Location &loc = gps.location(i);
+    struct log_GPS pkt = {
+        LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPS_MSG+i)),
+        time_us       : hal.scheduler->micros64(),
+        status        : (uint8_t)gps.status(i),
+        gps_week_ms   : gps.time_week_ms(i),
+        gps_week      : gps.time_week(i),
+        num_sats      : gps.num_sats(i),
+        hdop          : gps.get_hdop(i),
+        latitude      : loc.lat,
+        longitude     : loc.lng,
+        rel_altitude  : relative_alt,
+        altitude      : loc.alt,
+        ground_speed  : (uint32_t)(gps.ground_speed(i) * 100),
+        ground_course : gps.ground_course_cd(i),
+        vel_z         : gps.velocity(i).z,
+        used          : (uint8_t)(gps.primary_sensor() == i)
+    };
+    WriteBlock(&pkt, sizeof(pkt));
 }
 
 // Write an RCIN packet