Plane: add vibration DF logging and send to GCS

ArduPlane/ArduPlane.cpp

@@ -250,6 +250,9 @@ void Plane::update_logging2(void)
 
     if (should_log(MASK_LOG_RC))
         Log_Write_RC();
+
+    if (should_log(MASK_LOG_IMU))
+        DataFlash.Log_Write_Vibration(ins);
 }
 
 

ArduPlane/GCS_Mavlink.cpp

@@ -769,6 +769,11 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
         CHECK_PAYLOAD_SIZE(PID_TUNING);
         plane.send_pid_tuning(chan);
         break;
+
+    case MSG_VIBRATION:
+        CHECK_PAYLOAD_SIZE(VIBRATION);
+        send_vibration(plane.ins);
+        break;
     }
     return true;
 }
@@ -1003,6 +1008,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_OPTICAL_FLOW);
         send_message(MSG_EKF_STATUS_REPORT);
         send_message(MSG_GIMBAL_REPORT);
+        send_message(MSG_VIBRATION);
     }
 }