AP_AHRS: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library

libraries/AP_AHRS/AP_AHRS.cpp

@@ -3080,6 +3080,13 @@ void AP_AHRS::Log_Write()
 #if HAL_NAVEKF3_AVAILABLE
     EKF3.Log_Write();
 #endif
+
+    Write_AHRS2();
+    Write_POS();
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    AP::sitl()->Log_Write_SIMSTATE();
+#endif
 }
 
 // check if non-compass sensor is providing yaw.  Allows compass pre-arm checks to be bypassed

libraries/AP_AHRS/AP_AHRS.h

@@ -427,7 +427,6 @@ public:
 
     // Logging functions
     void Log_Write_Home_And_Origin();
-    void Write_AHRS2(void) const;
     void Write_Attitude(const Vector3f &targets) const;
 
     enum class LogOriginType {
@@ -435,7 +434,6 @@ public:
         ahrs_home = 1
     };
     void Write_Origin(LogOriginType origin_type, const Location &loc) const; 
-    void Write_POS(void) const;
     void write_video_stabilisation() const;
 
     // return a smoothed and corrected gyro vector in radians/second
@@ -831,6 +829,11 @@ private:
      */
     void copy_estimates_from_backend_estimates(const AP_AHRS_Backend::Estimates &results);
 
+    // write out secondary estimates:
+    void Write_AHRS2(void) const;
+    // write POS (canonical vehicle position) message out:
+    void Write_POS(void) const;
+
 #if HAL_NMEA_OUTPUT_ENABLED
     class AP_NMEA_Output* _nmea_out;
 #endif