DataFlash: added logging of actual sensor rates

libraries/DataFlash/LogFile.cpp

@@ -838,7 +838,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
         accel_error : ins.get_accel_error_count(0),
         temperature : ins.get_temperature(0),
         gyro_health : (uint8_t)ins.get_gyro_health(0),
-        accel_health : (uint8_t)ins.get_accel_health(0)
+        accel_health : (uint8_t)ins.get_accel_health(0),
+        gyro_rate : ins.get_gyro_rate_hz(0),
+        accel_rate : ins.get_accel_rate_hz(0),
     };
     WriteBlock(&pkt, sizeof(pkt));
     if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
@@ -860,7 +862,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
         accel_error : ins.get_accel_error_count(1),
         temperature : ins.get_temperature(1),
         gyro_health : (uint8_t)ins.get_gyro_health(1),
-        accel_health : (uint8_t)ins.get_accel_health(1)
+        accel_health : (uint8_t)ins.get_accel_health(1),
+        gyro_rate : ins.get_gyro_rate_hz(1),
+        accel_rate : ins.get_accel_rate_hz(1),
     };
     WriteBlock(&pkt2, sizeof(pkt2));
     if (ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) {
@@ -881,7 +885,9 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
         accel_error : ins.get_accel_error_count(2),
         temperature : ins.get_temperature(2),
         gyro_health : (uint8_t)ins.get_gyro_health(2),
-        accel_health : (uint8_t)ins.get_accel_health(2)
+        accel_health : (uint8_t)ins.get_accel_health(2),
+        gyro_rate : ins.get_gyro_rate_hz(2),
+        accel_rate : ins.get_accel_rate_hz(2),
     };
     WriteBlock(&pkt3, sizeof(pkt3));
 }

libraries/DataFlash/LogStructure.h

@@ -83,6 +83,7 @@ struct PACKED log_IMU {
     uint32_t gyro_error, accel_error;
     float temperature;
     uint8_t gyro_health, accel_health;
+    uint16_t gyro_rate, accel_rate;
 };
 
 struct PACKED log_IMUDT {
@@ -835,8 +836,8 @@ struct PACKED log_Beacon {
 #define IMT_LABELS "TimeUS,DelT,DelvT,DelaT,DelAX,DelAY,DelAZ,DelVX,DelVY,DelVZ"
 #define IMT_FMT    "Qfffffffff"
 
-#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,ErrG,ErrA,Temp,GyHlt,AcHlt"
-#define IMU_FMT   "QffffffIIfBB"
+#define IMU_LABELS "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,EG,EA,T,GH,AH,GHz,AHz"
+#define IMU_FMT   "QffffffIIfBBHH"
 
 #define MAG_LABELS "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health,S"
 #define MAG_FMT   "QhhhhhhhhhBI"