sdlog2: Add replay logging of flow and range finder messages for ekf2

src/modules/sdlog2/sdlog2.c

@@ -1201,6 +1201,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_RPL1_s log_RPL1;
 			struct log_RPL2_s log_RPL2;
 			struct log_EST6_s log_INO3;
+			struct log_RPL3_s log_RPL3;
 		} body;
 	} log_msg = {
 		LOG_PACKET_HEADER_INIT(0)
@@ -1479,6 +1480,17 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
 			log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
 			LOGBUFFER_WRITE_AND_COUNT(RPL2);
+			log_msg.msg_type = LOG_RPL3_MSG;
+			log_msg.body.log_RPL3.time_rng_usec = buf.replay.rng_timestamp;
+			log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
+			log_msg.body.log_RPL3.range_to_ground = buf.replay.range_to_ground;
+			log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
+			log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
+			log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
+			log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
+			log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
+			log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
+			LOGBUFFER_WRITE_AND_COUNT(RPL3);
 		}
 
 		/* --- ATTITUDE --- */

src/modules/sdlog2/sdlog2_messages.h

@@ -553,6 +553,19 @@ struct log_RPL2_s {
 	float vel_d_m_s;
 	bool vel_ned_valid;
 };
+/* --- EKF2 REPLAY Part 3 --- */
+#define LOG_RPL3_MSG 54
+struct log_RPL3_s {
+	uint64_t time_rng_usec;
+	uint64_t time_flow_usec;
+	float range_to_ground;
+	float flow_integral_x;
+	float flow_integral_y;
+	float gyro_integral_x;
+	float gyro_integral_y;
+	uint32_t flow_time_integral;
+	uint8_t flow_quality;
+};
 
 /* --- CAMERA TRIGGER --- */
 #define LOG_CAMT_MSG 55
@@ -643,6 +656,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
 	LOG_FORMAT(RPL1, "QQQQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gIx,gIy,gIz,aIx,aIy,aIz,magX,magY,magZ,b_alt"),
 	LOG_FORMAT(RPL2, "QQLLLMffffffM", "Tpos,Tvel,lat,lon,alt,fix_type,eph,epv,v,vN,vE,vD,v_val"),
+	LOG_FORMAT(RPL3, "QQfffffIB", "Trng,Tflow,rng,fx,fy,gx,gy,delT,qual"),
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */
 	LOG_FORMAT(TIME, "Q", "StartTime"),