DataFlash: added GPA and GPA2 messages for GPS accuracy

this reverts the GPS format to the old format, thus fixing log
analysers

libraries/DataFlash/DataFlash.h

@@ -215,7 +215,6 @@ struct PACKED log_GPS {
     uint16_t gps_week;
     uint8_t  num_sats;
     uint16_t hdop;
-    uint16_t vdop;
     int32_t  latitude;
     int32_t  longitude;
     int32_t  rel_altitude;
@@ -226,6 +225,15 @@ struct PACKED log_GPS {
     uint8_t  used;
 };
 
+struct PACKED log_GPA {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint16_t vdop;
+    uint16_t hacc;
+    uint16_t vacc;
+    uint16_t sacc;
+};
+
 struct PACKED log_Message {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -693,7 +701,13 @@ 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",  "QBIHBccLLeeEefB", "TimeUS,Stat,GMS,GWk,NSat,EPH,EPV,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
+      "GPS",  "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
+    { LOG_GPS2_MSG, sizeof(log_GPS), \
+      "GPS2", "QBIHBcLLeeEefB", "TimeUS,Status,GMS,GWk,NSats,HDop,Lat,Lng,RAlt,Alt,Spd,GCrs,VZ,U" }, \
+    { LOG_GPA_MSG,  sizeof(log_GPA), \
+      "GPA",  "QCCCC", "TimeUS,VDop,HAcc,VAcc,SAcc" }, \
+    { LOG_GPA2_MSG, sizeof(log_GPA), \
+      "GPA2", "QCCCC", "TimeUS,VDop,HAcc,VAcc,SAcc" }, \
     { 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), \
@@ -725,8 +739,6 @@ Format characters in the format string for binary log messages
 
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
-    { 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), \
@@ -894,7 +906,9 @@ enum LogMessages {
     LOG_IMUDT2_MSG,
     LOG_IMUDT3_MSG,
     LOG_ORGN_MSG,
-    LOG_RPM_MSG
+    LOG_RPM_MSG,
+    LOG_GPA_MSG,
+    LOG_GPA2_MSG,
 };
 
 enum LogOriginType {

libraries/DataFlash/LogFile.cpp

@@ -720,7 +720,6 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
         gps_week      : gps.time_week(i),
         num_sats      : gps.num_sats(i),
         hdop          : gps.get_hdop(i),
-        vdop          : gps.get_vdop(i),
         latitude      : loc.lat,
         longitude     : loc.lng,
         rel_altitude  : relative_alt,
@@ -731,6 +730,21 @@ void DataFlash_Class::Log_Write_GPS(const AP_GPS &gps, uint8_t i, int32_t relati
         used          : (uint8_t)(gps.primary_sensor() == i)
     };
     WriteBlock(&pkt, sizeof(pkt));
+
+    /* write auxillary accuracy information as well */
+    float hacc = 0, vacc = 0, sacc = 0;
+    gps.horizontal_accuracy(i, hacc);
+    gps.vertical_accuracy(i, vacc);
+    gps.speed_accuracy(i, sacc);
+    struct log_GPA pkt2 = {
+        LOG_PACKET_HEADER_INIT((uint8_t)(LOG_GPA_MSG+i)),
+        time_us       : hal.scheduler->micros64(),
+        vdop          : gps.get_vdop(i),
+        hacc          : (uint16_t)(hacc*100),
+        vacc          : (uint16_t)(vacc*100),
+        sacc          : (uint16_t)(sacc*100)
+    };
+    WriteBlock(&pkt2, sizeof(pkt2));
 }
 
 // Write an RCIN packet