AP_Logger: use instance number for Baro logging

libraries/AP_Logger/AP_Logger.h

@@ -458,7 +458,7 @@ private:
     // state to help us not log unneccesary RCIN values:
     bool seen_nonzero_rcin15_or_rcin16;
 
-    void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type);
+    void Write_Baro_instance(uint64_t time_us, uint8_t baro_instance);
     void Write_IMU_instance(uint64_t time_us, uint8_t imu_instance);
     void Write_Compass_instance(uint64_t time_us,
                                     uint8_t mag_instance,

libraries/AP_Logger/LogFile.cpp

@@ -265,15 +265,16 @@ void AP_Logger::Write_RSSI()
     WriteBlock(&pkt, sizeof(pkt));
 }
 
-void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance, enum LogMessages type)
+void AP_Logger::Write_Baro_instance(uint64_t time_us, uint8_t baro_instance)
 {
     AP_Baro &baro = AP::baro();
     float climbrate = baro.get_climb_rate();
     float drift_offset = baro.get_baro_drift_offset();
     float ground_temp = baro.get_ground_temperature();
     const struct log_BARO pkt{
-        LOG_PACKET_HEADER_INIT(type),
+        LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
         time_us       : time_us,
+        instance      : baro_instance,
         altitude      : baro.get_altitude(baro_instance),
         pressure      : baro.get_pressure(baro_instance),
         temperature   : (int16_t)(baro.get_temperature(baro_instance) * 100 + 0.5f),
@@ -293,12 +294,8 @@ void AP_Logger::Write_Baro(uint64_t time_us)
         time_us = AP_HAL::micros64();
     }
     const AP_Baro &baro = AP::baro();
-    Write_Baro_instance(time_us, 0, LOG_BARO_MSG);
-    if (baro.num_instances() > 1) {
-        Write_Baro_instance(time_us, 1, LOG_BAR2_MSG);
-    }
-    if (baro.num_instances() > 2) {
-        Write_Baro_instance(time_us, 2, LOG_BAR3_MSG);
+    for (uint8_t i=0; i< baro.num_instances(); i++) {
+        Write_Baro_instance(time_us, i);
     }
 }
 

libraries/AP_Logger/LogStructure.h

@@ -359,6 +359,7 @@ struct PACKED log_RSSI {
 struct PACKED log_BARO {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t instance;
     float   altitude;
     float   pressure;
     int16_t temperature;
@@ -1310,12 +1311,6 @@ struct PACKED log_PSC {
 // UNIT messages define units which can be referenced by FMTU messages
 // FMTU messages associate types (e.g. centimeters/second/second) to FMT message fields
 
-// see "struct sensor" in AP_Baro.h and "Write_Baro":
-#define BARO_LABELS "TimeUS,Alt,Press,Temp,CRt,SMS,Offset,GndTemp,Health"
-#define BARO_FMT   "QffcfIffB"
-#define BARO_UNITS "smPOnsmO-"
-#define BARO_MULTS "F00B0C?0-"
-
 #define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
 #define GPA_FMT   "QCCCCfBIH"
 #define GPA_UNITS "smmmnd-ss"
@@ -1430,9 +1425,10 @@ struct PACKED log_PSC {
 // @Field: ErrRP: lowest estimated gyro drift error
 // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
 
-// @LoggerMessage: BARO,BAR2,BAR3
+// @LoggerMessage: BARO
 // @Description: Gathered Barometer data
 // @Field: TimeUS: Time since system startup
+// @Field: I: barometer sensor instance number
 // @Field: Alt: calculated altitude
 // @Field: Press: measured atmospheric pressure
 // @Field: Temp: measured atmospheric temperature
@@ -2536,7 +2532,7 @@ struct PACKED log_PSC {
     { LOG_RSSI_MSG, sizeof(log_RSSI), \
       "RSSI",  "Qf",     "TimeUS,RXRSSI", "s-", "F-"  }, \
     { LOG_BARO_MSG, sizeof(log_BARO), \
-      "BARO",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
+      "BARO",  "QBffcfIffB", "TimeUS,I,Alt,Press,Temp,CRt,SMS,Offset,GndTemp,Health", "s#mPOnsmO-", "F-00B0C?0-" }, \
     { LOG_POWR_MSG, sizeof(log_POWR), \
       "POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---" },  \
     { LOG_CMD_MSG, sizeof(log_Cmd), \
@@ -2657,10 +2653,6 @@ struct PACKED log_PSC {
       "PIDS", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS }, \
     { LOG_DSTL_MSG, sizeof(log_DSTL), \
       "DSTL", "QBfLLeccfeffff", "TimeUS,Stg,THdg,Lat,Lng,Alt,XT,Travel,L1I,Loiter,Des,P,I,D", "s??DUm--------", "F??000--------" }, \
-    { LOG_BAR2_MSG, sizeof(log_BARO), \
-      "BAR2",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
-    { LOG_BAR3_MSG, sizeof(log_BARO), \
-      "BAR3",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
     { LOG_VIBE_MSG, sizeof(log_Vibe), \
       "VIBE", "QBfffI",     "TimeUS,IMU,VibeX,VibeY,VibeZ,Clip", "s#----", "F-----" }, \
     { LOG_IMUDT_MSG, sizeof(log_IMUDT), \
@@ -2788,7 +2780,6 @@ enum LogMessages : uint8_t {
     LOG_ESC_MSG,
     LOG_CSRV_MSG,
     LOG_CESC_MSG,
-    LOG_BAR2_MSG,
     LOG_ARSP_MSG,
     LOG_ATTITUDE_MSG,
     LOG_CURRENT_MSG,
@@ -2828,7 +2819,6 @@ enum LogMessages : uint8_t {
     LOG_GPA2_MSG,
     LOG_GPAB_MSG,
     LOG_RFND_MSG,
-    LOG_BAR3_MSG,
     LOG_MAV_STATS,
     LOG_FORMAT_UNITS_MSG,
     LOG_UNIT_MSG,