DataFlash : Add EKF additional fault and timeout logging

libraries/DataFlash/DataFlash.h

@@ -345,6 +345,7 @@ struct PACKED log_EKF4 {
     int8_t  offsetEast;
     uint8_t faults;
     uint8_t staticmode;
+    uint8_t timeouts;
 };
 
 struct PACKED log_EKF5 {
@@ -503,7 +504,7 @@ struct PACKED log_Esc {
     { LOG_EKF3_MSG, sizeof(log_EKF3), \
       "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
-      "EKF4","IcccccccbbBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,StaticMode" }, \
+      "EKF4","IcccccccbbBBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,StaticMode,TS" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
     { LOG_UBX1_MSG, sizeof(log_Ubx1), \

libraries/DataFlash/LogFile.cpp

@@ -974,8 +974,10 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
 	float tasVar;
     Vector2f offset;
     uint8_t faultStatus;
+    uint8_t timeoutStatus;
     ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     ahrs.get_NavEKF().getFilterFaults(faultStatus);
+    ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
     struct log_EKF4 pkt4 = {
         LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
         time_ms : hal.scheduler->millis(),
@@ -989,7 +991,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
         offsetNorth : (int8_t)(offset.x),
         offsetEast : (int8_t)(offset.y),
         faults : (uint8_t)(faultStatus),
-        staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode())
+        staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode()),
+        timeouts : (uint8_t)(timeoutStatus)
     };
     WriteBlock(&pkt4, sizeof(pkt4));