AP_BattMoniter: log in Ah and Wh, add percentage to log

libraries/AP_BattMonitor/AP_BattMonitor_Logging.cpp

@@ -18,7 +18,8 @@ void AP_BattMonitor_Backend::Log_Write_BAT(const uint8_t instance, const uint64_
         current_total       : has_curr ? _state.consumed_mah : AP::logger().quiet_nanf(),
         consumed_wh         : has_curr ? _state.consumed_wh : AP::logger().quiet_nanf(),
         temperature         : (int16_t) ( has_temperature() ? _state.temperature * 100 : 0),
-        resistance          : _state.resistance
+        resistance          : _state.resistance,
+        rem_percent         : capacity_remaining_pct(),
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }

libraries/AP_BattMonitor/LogStructure.h

@@ -13,10 +13,11 @@
 // @Field: Volt: measured voltage
 // @Field: VoltR: estimated resting voltage
 // @Field: Curr: measured current
-// @Field: CurrTot: current * time
-// @Field: EnrgTot: energy this battery has produced
+// @Field: CurrTot: consumed Ah, current * time
+// @Field: EnrgTot: consumed Wh, energy this battery has expended
 // @Field: Temp: measured temperature
 // @Field: Res: estimated battery resistance
+// @Field: RemPct: remaining percentage
 struct PACKED log_BAT {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -28,6 +29,7 @@ struct PACKED log_BAT {
     float    consumed_wh;
     int16_t  temperature; // degrees C * 100
     float    resistance;
+    uint8_t  rem_percent;
 };
 
 // @LoggerMessage: BCL
@@ -57,6 +59,6 @@ struct PACKED log_BCL {
 
 #define LOG_STRUCTURE_FROM_BATTMONITOR        \
     { LOG_BAT_MSG, sizeof(log_BAT), \
-        "BAT", "QBfffffcf", "TimeUS,Instance,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res", "s#vvAiJOw", "F-000!/?0" },  \
+        "BAT", "QBfffffcfB", "TimeUS,Instance,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res,RemPct", "s#vvAaXOw%", "F-000C0?00" },  \
     { LOG_BCL_MSG, sizeof(log_BCL), \
         "BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" },