Copter: log INS errors in PM message

ArduCopter/Log.pde

@@ -427,12 +427,12 @@ struct PACKED log_Performance {
     LOG_PACKET_HEADER;
     uint8_t renorm_count;
     uint8_t renorm_blowup;
-    uint8_t gps_fix_count;
     uint16_t num_long_running;
     uint16_t num_loops;
     uint32_t max_time;
     int16_t  pm_test;
     uint8_t i2c_lockup_count;
+    uint16_t ins_error_count;
 };
 
 // Write a performance monitoring packet
@@ -442,12 +442,12 @@ static void Log_Write_Performance()
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
         renorm_count     : ahrs.renorm_range_count,
         renorm_blowup    : ahrs.renorm_blowup_count,
-        gps_fix_count    : gps_fix_count,
         num_long_running : perf_info_get_num_long_running(),
         num_loops        : perf_info_get_num_loops(),
         max_time         : perf_info_get_max_time(),
         pm_test          : pmTest1,
-        i2c_lockup_count : hal.i2c->lockup_count()
+        i2c_lockup_count : hal.i2c->lockup_count(),
+        ins_error_count  : ins.error_count()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -794,7 +794,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_COMPASS_MSG, sizeof(log_Compass),             
       "MAG", "hhhhhhhhh",    "MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
-      "PM",  "BBBHHIhB",       "RenCnt,RenBlw,FixCnt,NLon,NLoop,MaxT,PMT,I2CErr" },
+      "PM",  "BBHHIhBH",       "RenCnt,RenBlw,NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
     { LOG_CMD_MSG, sizeof(log_Cmd),                 
       "CMD", "BBBBBeLL",     "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),