DataFlash: added TRIGGER message to Logs

DataFlash.h: added support for Trigger MSG, supressed TAB separations
and file reorganized LogFile.cpp: included Trigger packet

libraries/DataFlash/DataFlash.h

@@ -110,6 +110,7 @@ public:
     void Log_Write_Radio(const mavlink_radio_t &packet);
     void Log_Write_Message(const char *message);
     void Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);
+    void Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc);    
     void Log_Write_ESC(void);
     void Log_Write_Airspeed(AP_Airspeed &airspeed);
     void Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets);
@@ -178,4 +179,4 @@ private:
     const char *_firmware_string;
 };
 
-#endif
+#endif

libraries/DataFlash/LogFile.cpp

@@ -1565,6 +1565,34 @@ void DataFlash_Class::Log_Write_Camera(const AP_AHRS &ahrs, const AP_GPS &gps, c
     WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
+// Write a Trigger packet
+void DataFlash_Class::Log_Write_Trigger(const AP_AHRS &ahrs, const AP_GPS &gps, const Location &current_loc)
+{
+    int32_t altitude, altitude_rel;
+    if (current_loc.flags.relative_alt) {
+        altitude = current_loc.alt+ahrs.get_home().alt;
+        altitude_rel = current_loc.alt;
+    } else {
+        altitude = current_loc.alt;
+        altitude_rel = current_loc.alt - ahrs.get_home().alt;
+    }
+
+    struct log_Trigger pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_TRIGGER_MSG),
+        time_us     : AP_HAL::micros64(),
+        gps_time    : gps.time_week_ms(),
+        gps_week    : gps.time_week(),
+        latitude    : current_loc.lat,
+        longitude   : current_loc.lng,
+        altitude    : altitude,
+        altitude_rel: altitude_rel,
+        roll        : (int16_t)ahrs.roll_sensor,
+        pitch       : (int16_t)ahrs.pitch_sensor,
+        yaw         : (uint16_t)ahrs.yaw_sensor
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
 // Write an attitude packet
 void DataFlash_Class::Log_Write_Attitude(AP_AHRS &ahrs, const Vector3f &targets)
 {
@@ -1776,4 +1804,4 @@ void DataFlash_Class::Log_Write_RPM(const AP_RPM &rpm_sensor)
         rpm2        : rpm_sensor.get_rpm(1)
     };
     WriteBlock(&pkt, sizeof(pkt));
-}
+}

libraries/DataFlash/LogStructure.h

@@ -390,6 +390,20 @@ struct PACKED log_Camera {
     uint16_t yaw;
 };
 
+struct PACKED log_Trigger {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint32_t gps_time;
+    uint16_t gps_week;
+    int32_t  latitude;
+    int32_t  longitude;
+    int32_t  altitude;
+    int32_t  altitude_rel;
+    int16_t  roll;
+    int16_t  pitch;
+    uint16_t yaw;
+};
+
 struct PACKED log_Attitude {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -733,9 +747,11 @@ Format characters in the format string for binary log messages
     { LOG_MODE_MSG, sizeof(log_Mode), \
       "MODE", "QMB",         "TimeUS,Mode,ModeNum" }, \
     { LOG_RFND_MSG, sizeof(log_RFND), \
-            "RFND", "QCC",         "TimeUS,Dist1,Dist2" }, \
+      "RFND", "QCC",         "TimeUS,Dist1,Dist2" }, \
     { LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
-      "DMS", "IIIIIBBBBBBBBBB",         "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" }
+      "DMS", "IIIIIBBBBBBBBBB",         "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx" }, \
+    { LOG_TRIGGER_MSG, sizeof(log_Trigger), \
+      "TRIG", "QIHLLeeccC","TimeUS,GPSTime,GPSWeek,Lat,Lng,Alt,RelAlt,Roll,Pitch,Yaw" }
 
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
@@ -966,6 +982,7 @@ enum LogMessages {
     LOG_MSG_SBPRAW1,
     LOG_MSG_SBPRAW2,
     LOG_MSG_SBPRAWx,
+    LOG_TRIGGER_MSG,
 
     LOG_GIMBAL1_MSG,
     LOG_GIMBAL2_MSG,