AP_Logger: move logging of Beacon into Beacon library

libraries/AP_Logger/AP_Logger.h

@@ -58,7 +58,6 @@
 #include <AP_Logger/LogStructure.h>
 #include <AP_Motors/AP_Motors.h>
 #include <AP_Rally/AP_Rally.h>
-#include <AP_Beacon/AP_Beacon.h>
 #include <AP_Vehicle/ModeReason.h>
 
 #include <stdint.h>
@@ -306,7 +305,6 @@ public:
     void Write_RallyPoint(uint8_t total,
                           uint8_t sequence,
                           const RallyLocation &rally_point);
-    void Write_Beacon(AP_Beacon &beacon);
     void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
     void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp);
     void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);

libraries/AP_Logger/LogFile.cpp

@@ -426,33 +426,6 @@ void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write beacon sensor (position) data
-void AP_Logger::Write_Beacon(AP_Beacon &beacon)
-{
-    if (!beacon.enabled()) {
-        return;
-    }
-    // position
-    Vector3f pos;
-    float accuracy = 0.0f;
-    beacon.get_vehicle_position_ned(pos, accuracy);
-
-    const struct log_Beacon pkt_beacon{
-       LOG_PACKET_HEADER_INIT(LOG_BEACON_MSG),
-       time_us         : AP_HAL::micros64(),
-       health          : (uint8_t)beacon.healthy(),
-       count           : (uint8_t)beacon.count(),
-       dist0           : beacon.beacon_distance(0),
-       dist1           : beacon.beacon_distance(1),
-       dist2           : beacon.beacon_distance(2),
-       dist3           : beacon.beacon_distance(3),
-       posx            : pos.x,
-       posy            : pos.y,
-       posz            : pos.z
-    };
-    WriteBlock(&pkt_beacon, sizeof(pkt_beacon));
-}
-
 void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& breadcrumb)
 {
     const struct log_SRTL pkt_srtl{

libraries/AP_Logger/LogStructure.h

@@ -120,6 +120,7 @@ const struct MultiplierStructure log_Multipliers[] = {
 #define HEAD_BYTE1  0xA3    // Decimal 163
 #define HEAD_BYTE2  0x95    // Decimal 149
 
+#include <AP_Beacon/LogStructure.h>
 #include <AP_DAL/LogStructure.h>
 #include <AP_NavEKF2/LogStructure.h>
 #include <AP_NavEKF3/LogStructure.h>
@@ -514,20 +515,6 @@ struct PACKED log_Rally {
     int16_t altitude;
 };
 
-struct PACKED log_Beacon {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint8_t health;
-    uint8_t count;
-    float dist0;
-    float dist1;
-    float dist2;
-    float dist3;
-    float posx;
-    float posy;
-    float posz;
-};
-
 struct PACKED log_Performance {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -738,19 +725,6 @@ struct PACKED log_VER {
 // @Field: Hp: Probability sensor is healthy
 // @Field: Pri: True if sensor is the primary sensor
 
-// @LoggerMessage: BCN
-// @Description: Beacon information
-// @Field: TimeUS: Time since system startup
-// @Field: Health: True if beacon sensor is healthy
-// @Field: Cnt: Number of beacons being used
-// @Field: D0: Distance to first beacon
-// @Field: D1: Distance to second beacon
-// @Field: D2: Distance to third beacon
-// @Field: D3: Distance to fourth beacon
-// @Field: PosX: Calculated beacon position, x-axis
-// @Field: PosY: Calculated beacon position, y-axis
-// @Field: PosZ: Calculated beacon position, z-axis
-
 // @LoggerMessage: CMD
 // @Description: Executed mission command information
 // @Field: TimeUS: Time since system startup
@@ -1230,8 +1204,7 @@ LOG_STRUCTURE_FROM_CAMERA \
       "RFND", "QBCBB", "TimeUS,Instance,Dist,Stat,Orient", "s#m--", "F-B--", true }, \
     { LOG_MAV_STATS, sizeof(log_MAV_Stats), \
       "DMS", "QIIIIBBBBBBBBB",         "TimeUS,N,Dp,RT,RS,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s-------------", "F-------------" }, \
-    { LOG_BEACON_MSG, sizeof(log_Beacon), \
-      "BCN", "QBBfffffff",  "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--0000000", true }, \
+    LOG_STRUCTURE_FROM_BEACON                                       \
     LOG_STRUCTURE_FROM_PROXIMITY                                    \
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance),                     \
       "PM",  "QHHIIHHIIIIII", "TimeUS,NLon,NLoop,MaxT,Mem,Load,ErrL,IntE,ErrC,SPIC,I2CC,I2CI,Ex", "s---b%------s", "F---0A------F" }, \
@@ -1365,7 +1338,7 @@ enum LogMessages : uint8_t {
 
     LOG_IDS_FROM_VISUALODOM,
     LOG_IDS_FROM_AVOIDANCE,
-    LOG_BEACON_MSG,
+    LOG_IDS_FROM_BEACON,
     LOG_IDS_FROM_PROXIMITY,
     LOG_DF_FILE_STATS,
     LOG_SRTL_MSG,