sdlog2: move main state, fix formatting, fix bug

Since the vehicle_status topic has been split up, we can't publish it
together with the the split cpuload and commander_state topics.

Therefore, the log field STAT.MainState will change to COMM.MainState
because it is only the internal commander state. Important to the
outside is STAT.NavState.

Likewise, the log field STAT.Load becomes LOAD.CPU.

src/modules/sdlog2/sdlog2.c

@@ -1211,6 +1211,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GPS_s log_GPS;
 			struct log_ATTC_s log_ATTC;
 			struct log_STAT_s log_STAT;
+			struct log_LOAD_s log_LOAD;
+			struct log_COMM_s log_COMM;
 			struct log_VTOL_s log_VTOL;
 			struct log_RC_s log_RC;
 			struct log_OUT_s log_OUT;
@@ -1515,6 +1517,24 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(STAT);
 		}
 
+		/* --- COMMANDER INTERNAL STATE --- */
+		bool commander_state_updated = copy_if_updated(ORB_ID(commander_state), &subs.commander_state_sub,
+							       &buf.commander_state);
+
+		if (commander_state_updated) {
+			log_msg.msg_type = LOG_COMM_MSG;
+			log_msg.body.log_COMM.main_state = buf.commander_state.main_state;
+			LOGBUFFER_WRITE_AND_COUNT(COMM);
+		}
+
+
+		bool cpuload_updated = copy_if_updated(ORB_ID(cpuload), &subs.cpuload_sub, &buf.cpuload);
+		if (cpuload_updated) {
+			log_msg.msg_type = LOG_LOAD_MSG;
+			log_msg.body.log_LOAD.cpu_load = buf.cpuload.load;
+			LOGBUFFER_WRITE_AND_COUNT(LOAD);
+		}
+
 		/* --- EKF2 REPLAY --- */
 		if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_REPLAY_ONLY) {
 

src/modules/sdlog2/sdlog2_messages.h

@@ -177,11 +177,9 @@ struct log_ATTC_s {
 /* --- STAT - VEHICLE STATE --- */
 #define LOG_STAT_MSG 10
 struct log_STAT_s {
-	uint8_t main_state;
 	uint8_t nav_state;
 	uint8_t arming_state;
 	uint8_t failsafe;
-	float load;
 };
 
 /* --- RC - RC INPUT CHANNELS --- */
@@ -597,11 +595,24 @@ struct log_CAMT_s {
 	uint32_t seq;
 };
 
+/* --- LAND DETECTOR --- */
 #define LOG_LAND_MSG 57
 struct log_LAND_s {
 	uint8_t landed;
 };
 
+/* --- SYSTEM LOAD --- */
+#define LOG_LOAD_MSG 58
+struct log_LOAD_s {
+	float cpu_load;
+};
+
+/* --- COMMANDER INTERNAL STATE --- */
+#define LOG_COMM_MSG 59
+struct log_COMM_s {
+	uint8_t main_state;
+};
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -643,7 +654,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
 	LOG_FORMAT_S(ATTC, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
 	LOG_FORMAT_S(ATC1, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBBBf",		"MainState,NavState,ArmS,Failsafe,Load"),
+	LOG_FORMAT(STAT, "BBB",		"NavState,ArmS,Failsafe"),
 	LOG_FORMAT(VTOL, "fBBB",		"Arsp,RwMode,TransMode,Failsafe"),
 	LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
 	LOG_FORMAT(RC, "ffffffffffffBBBL",		"C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
@@ -688,6 +699,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
 	LOG_FORMAT(RPL6, "Qfffff", "Tasp,inAsp,trAsp,ufAsp,tpAsp,confAsp"),
 	LOG_FORMAT(LAND, "B", "Landed"),
+	LOG_FORMAT(LOAD, "f", "CPU"),
+	LOG_FORMAT(COMM, "B", "MainState"),
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */
 	LOG_FORMAT(TIME, "Q", "StartTime"),