DataFlash: added DelaT to delta-angle logs

libraries/DataFlash/LogFile.cpp

@@ -923,6 +923,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
 {
     float delta_t = ins.get_delta_time();
     float delta_vel_t = ins.get_delta_velocity_dt(0);
+    float delta_ang_t = ins.get_delta_angle_dt(0);
     Vector3f delta_angle, delta_velocity;
     ins.get_delta_angle(0, delta_angle);
     ins.get_delta_velocity(0, delta_velocity);
@@ -933,6 +934,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
         time_us : time_us,
         delta_time   : delta_t,
         delta_vel_dt : delta_vel_t,
+        delta_ang_dt : delta_ang_t,
         delta_ang_x  : delta_angle.x,
         delta_ang_y  : delta_angle.y,
         delta_ang_z  : delta_angle.z,
@@ -946,6 +948,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
     }
 
     delta_vel_t = ins.get_delta_velocity_dt(1);
+    delta_ang_t = ins.get_delta_angle_dt(1);
     if (!ins.get_delta_angle(1, delta_angle)) {
         delta_angle.zero();
     }
@@ -957,6 +960,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
         time_us     : time_us,
         delta_time   : delta_t,
         delta_vel_dt : delta_vel_t,
+        delta_ang_dt : delta_ang_t,
         delta_ang_x  : delta_angle.x,
         delta_ang_y  : delta_angle.y,
         delta_ang_z  : delta_angle.z,
@@ -970,6 +974,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
         return;
     }
     delta_vel_t = ins.get_delta_velocity_dt(1);
+    delta_ang_t = ins.get_delta_angle_dt(2);
     if (!ins.get_delta_angle(2, delta_angle)) {
         delta_angle.zero();
     }
@@ -981,6 +986,7 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins)
         time_us     : time_us,
         delta_time   : delta_t,
         delta_vel_dt : delta_vel_t,
+        delta_ang_dt : delta_ang_t,
         delta_ang_x  : delta_angle.x,
         delta_ang_y  : delta_angle.y,
         delta_ang_z  : delta_angle.z,

libraries/DataFlash/LogStructure.h

@@ -86,7 +86,7 @@ struct PACKED log_IMU {
 struct PACKED log_IMUDT {
     LOG_PACKET_HEADER;
     uint64_t time_us;
-    float delta_time, delta_vel_dt;
+    float delta_time, delta_vel_dt, delta_ang_dt;
     float delta_ang_x, delta_ang_y, delta_ang_z;
     float delta_vel_x, delta_vel_y, delta_vel_z;
 };
@@ -864,11 +864,11 @@ Format characters in the format string for binary log messages
     { LOG_VIBE_MSG, sizeof(log_Vibe), \
       "VIBE", "QfffIII",     "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2" }, \
     { LOG_IMUDT_MSG, sizeof(log_IMUDT), \
-      "IMT","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
+      "IMT","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
     { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \
-      "IMT2","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
+      "IMT2","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
     { LOG_IMUDT3_MSG, sizeof(log_IMUDT), \
-      "IMT3","Qffffffff","TimeUS,DelT,DelvT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
+      "IMT3","Qfffffffff","TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ" }, \
     { LOG_ORGN_MSG, sizeof(log_ORGN), \
       "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt" }, \
     { LOG_RPM_MSG, sizeof(log_RPM), \