Copter:Logging TradHeli - add governor output and throttle logging for heli governor

ArduCopter/Log.cpp

@@ -280,6 +280,8 @@ struct PACKED log_Heli {
     uint64_t time_us;
     float    desired_rotor_speed;
     float    main_rotor_speed;
+    float    governor_output;
+    float    control_output;
 };
 
 #if FRAME_CONFIG == HELI_FRAME
@@ -291,6 +293,8 @@ void Copter::Log_Write_Heli()
         time_us                 : AP_HAL::micros64(),
         desired_rotor_speed     : motors->get_desired_rotor_speed(),
         main_rotor_speed        : motors->get_main_rotor_speed(),
+        governor_output         : motors->get_governor_output(),
+        control_output          : motors->get_control_output(),
     };
     logger.WriteBlock(&pkt_heli, sizeof(pkt_heli));
 }
@@ -403,7 +407,7 @@ const struct LogStructure Copter::log_structure[] = {
       "DFLT",  "QBf",         "TimeUS,Id,Value", "s--", "F--" },
 #if FRAME_CONFIG == HELI_FRAME
     { LOG_HELI_MSG, sizeof(log_Heli),
-      "HELI",  "Qff",         "TimeUS,DRRPM,ERRPM", "s--", "F--" },
+      "HELI",  "Qffff",        "TimeUS,DRRPM,ERRPM,Gov,Throt", "s----", "F----" },
 #endif
 #if PRECISION_LANDING == ENABLED
     { LOG_PRECLAND_MSG, sizeof(log_Precland),