Copter: rename MOT df msg to MOTB

This will slightly reduce confusion with the MOT message from AC3.1.5
that eventually became RCOUT

ArduCopter/ArduCopter.pde

@@ -1040,8 +1040,8 @@ static void ten_hz_logging_loop()
         Log_Write_Attitude();
         Log_Write_Rate();
     }
-    if (should_log(MASK_LOG_MOT)) {
-        Log_Write_Mot();
+    if (should_log(MASK_LOG_MOTBATT)) {
+        Log_Write_MotBatt();
     }
     if (should_log(MASK_LOG_RCIN)) {
         DataFlash.Log_Write_RCIN();

ArduCopter/Log.pde

@@ -364,15 +364,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
     DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-struct PACKED log_Mot {
-    LOG_PACKET_HEADER;
-    uint32_t time_ms;
-    float   lift_max;
-    float   bat_volt;
-    float   bat_res;
-    float   th_limit;
-};
-
 // Write an attitude packet
 static void Log_Write_Attitude()
 {
@@ -426,11 +417,20 @@ static void Log_Write_Rate()
     DataFlash.WriteBlock(&pkt_rate, sizeof(pkt_rate));
 }
 
+struct PACKED log_MotBatt {
+    LOG_PACKET_HEADER;
+    uint32_t time_ms;
+    float   lift_max;
+    float   bat_volt;
+    float   bat_res;
+    float   th_limit;
+};
+
 // Write an rate packet
-static void Log_Write_Mot()
+static void Log_Write_MotBatt()
 {
-    struct log_Mot pkt_mot = {
-        LOG_PACKET_HEADER_INIT(LOG_MOT_MSG),
+    struct log_MotBatt pkt_mot = {
+        LOG_PACKET_HEADER_INIT(LOG_MOTBATT_MSG),
         time_ms         : hal.scheduler->millis(),
         lift_max        : (float)(motors.get_lift_max()),
         bat_volt        : (float)(motors.get_batt_voltage_filt()),
@@ -608,8 +608,8 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "PM",  "HHIhBH",    "NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
     { LOG_RATE_MSG, sizeof(log_Rate),
       "RATE", "Ifffffffff",  "TimeMS,RllDes,Rll,RllOut,PitDes,Pit,PitOut,YawDes,Yaw,YawOut" },
-    { LOG_MOT_MSG, sizeof(log_Mot),
-      "MOT", "Iffff",  "TimeMS,LiftMax,BatVolt,BatRes,ThLimit" },
+    { LOG_MOTBATT_MSG, sizeof(log_MotBatt),
+      "MOTB", "Iffff",  "TimeMS,LiftMax,BatVolt,BatRes,ThLimit" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "",            "" },
     { LOG_EVENT_MSG, sizeof(log_Event),         
@@ -685,7 +685,7 @@ static void Log_Write_AutoTuneDetails(float angle_cd, float rate_cds) {}
 static void Log_Write_Current() {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Rate() {}
-static void Log_Write_Mot() {}
+static void Log_Write_MotBatt() {}
 static void Log_Write_Data(uint8_t id, int16_t value){}
 static void Log_Write_Data(uint8_t id, uint16_t value){}
 static void Log_Write_Data(uint8_t id, int32_t value){}

ArduCopter/config.h

@@ -686,7 +686,7 @@
     MASK_LOG_OPTFLOW | \
     MASK_LOG_COMPASS | \
     MASK_LOG_CAMERA | \
-    MASK_LOG_MOT
+    MASK_LOG_MOTBATT
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

ArduCopter/defines.h

@@ -240,7 +240,7 @@ enum FlipState {
 #define LOG_AUTOTUNE_MSG                0x19
 #define LOG_AUTOTUNEDETAILS_MSG         0x1A
 #define LOG_RATE_MSG                    0x1D
-#define LOG_MOT_MSG                     0x1E
+#define LOG_MOTBATT_MSG                 0x1E
 
 #define MASK_LOG_ATTITUDE_FAST          (1<<0)
 #define MASK_LOG_ATTITUDE_MED           (1<<1)
@@ -259,7 +259,7 @@ enum FlipState {
 #define MASK_LOG_INAV                   (1<<14) // deprecated
 #define MASK_LOG_CAMERA                 (1<<15)
 #define MASK_LOG_WHEN_DISARMED          (1UL<<16)
-#define MASK_LOG_MOT                    (1UL<<17)
+#define MASK_LOG_MOTBATT                (1UL<<17)
 #define MASK_LOG_ANY                    0xFFFF
 
 // DATA - event logging