AP_Logger: correct Write() containing 'a' entries

libraries/AP_Logger/AP_Logger_Backend.cpp

@@ -278,6 +278,13 @@ bool AP_Logger_Backend::Write(const uint8_t msg_type, va_list arg_list, bool is_
             offset += sizeof(uint64_t);
             break;
         }
+        case 'a': {
+            int16_t *tmp = va_arg(arg_list, int16_t*);
+            const uint8_t bytes = 32*2;
+            memcpy(&buffer[offset], tmp, bytes);
+            offset += bytes;
+            break;
+        }
         }
         if (charlen != 0) {
             char *tmp = va_arg(arg_list, char*);

libraries/AP_Logger/examples/AP_Logger_AllTypes/AP_Logger_AllTypes.cpp

@@ -48,13 +48,27 @@ enum MyLogMessages {
 };
 
 static const struct LogStructure log_structure[] = {
+    { LOG_FORMAT_MSG,
+      sizeof(log_Format),
+      "FMT",
+      "BBnNZ",
+      "Type,Length,Name,Format,Columns",
+      "-b---",
+      "-----" },
+    { LOG_UNIT_MSG, sizeof(log_Unit),
+      "UNIT", "QbZ",      "TimeUS,Id,Label", "s--","F--" },
+    { LOG_FORMAT_UNITS_MSG, sizeof(log_Format_Units),
+      "FMTU", "QBNN",      "TimeUS,FmtType,UnitIds,MultIds","s---", "F---" },
+    { LOG_MULT_MSG, sizeof(log_Format_Multiplier),
+      "MULT", "Qbd",      "TimeUS,Id,Mult", "s--","F--" },
+
     { LOG_TYP1_MSG,
       sizeof(log_TYP1),
       "TYP1",
-      "QbBhHiIfdnNZ",
-      "TimeUS,b,B,h,H,i,I,f,d,n,N,Z",
-      "s-----------",
-      "F-----------"
+      "QabBhHiIfdnNZ",
+      "TimeUS,a,b,B,h,H,i,I,f,d,n,N,Z",
+      "s------------",
+      "F------------"
     },
     { LOG_TYP2_MSG,
       sizeof(log_TYP2),
@@ -118,10 +132,13 @@ void AP_LoggerTest_AllTypes::Log_Write_TypeMessages()
     log_num = logger.find_last_log();
     hal.console->printf("Using log number %u\n", log_num);
 
-    struct log_TYP1 typ1 = {
+    hal.console->printf("Writing out a few messages to get formats out...");
+    logger.Write_Message("Start 1");
+
+    struct log_TYP1 typ1{
         LOG_PACKET_HEADER_INIT(LOG_TYP1_MSG),
         time_us : AP_HAL::micros64(),
-        a : { -32768, 32767, 1, -1, 0, 17 }, // int16[32]
+        a : { -32768, 32767, 1, -1, 0, 19 }, // int16[32]
         b : -17, // int8_t
         B : 42,  // uint8_t
         h : -12372,  // int16_t
@@ -165,8 +182,28 @@ void AP_LoggerTest_AllTypes::Log_Write_TypeMessages_Log_Write()
     log_num = logger.find_last_log();
     hal.console->printf("Using log number for Log_Write %u\n", log_num);
 
-    logger.Write("TYP3", TYP1_LBL, TYP1_FMT,
+    hal.console->printf("Writing out a few messages to get formats out...");
+    logger.Write_Message("Start 2");
+
+    logger.Write("TYPn",
+                 "TimeUS,Str",
+                 "Qn",
+                 AP_HAL::micros64(),
+                 "ABCD");
+
+    const int16_t a[32] = { -32768, 32767, 1, -1, 0, 17 };
+
+    logger.Write("TYPa",
+                 "TimeUS,Arr",
+                 "Qa",
+                 AP_HAL::micros64(),
+                 a);
+
+    logger.Write("TYP3",
+                 TYP1_LBL,
+                 TYP1_FMT,
                  AP_HAL::micros64(),
+                 a, // int16[32]
                  -17, // int8_t
                  42,  // uint8_t
                  -12372,  // int16_t
@@ -182,7 +219,9 @@ void AP_LoggerTest_AllTypes::Log_Write_TypeMessages_Log_Write()
                  "ABCDEFGHIJKLMNOPABCDEFGHIJKLMNOPABCDEFGHIJKLMNOPABCDEFGHIJKLMNOP"
         );
 
-    logger.Write("TYP4", TYP2_LBL, TYP2_FMT,
+    logger.Write("TYP4",
+                 TYP2_LBL,
+                 TYP2_FMT,
                  AP_HAL::micros64(),
                  -9823, // int16_t * 100
                  5436,  // uint16_t * 100