AP_Logger: Update logs based on new BendyRuler type

libraries/AP_Logger/AP_Logger.h

@@ -285,7 +285,7 @@ public:
     void Write_Beacon(AP_Beacon &beacon);
     void Write_Proximity(AP_Proximity &proximity);
     void Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
-    void Write_OABendyRuler(bool active, float target_yaw, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest);
+    void Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool ignore_chg, float margin, const Location &final_dest, const Location &oa_dest);
     void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
     void Write_SimpleAvoidance(uint8_t state, const Vector2f& desired_vel, const Vector2f& modified_vel, bool back_up);
     void Write_Winch(bool healthy, bool thread_end, bool moving, bool clutch, uint8_t mode, float desired_length, float length, float desired_rate, uint16_t tension, float voltage, int8_t temp);

libraries/AP_Logger/LogFile.cpp

@@ -1044,20 +1044,24 @@ void AP_Logger::Write_SRTL(bool active, uint16_t num_points, uint16_t max_points
     WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
 }
 
-void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest)
+void AP_Logger::Write_OABendyRuler(uint8_t type, bool active, float target_yaw, float target_pitch, bool resist_chg, float margin, const Location &final_dest, const Location &oa_dest)
 {
     const struct log_OABendyRuler pkt{
         LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
         time_us     : AP_HAL::micros64(),
+        type        : type,
         active      : active,
         target_yaw  : (uint16_t)wrap_360(target_yaw),
         yaw         : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
+        target_pitch: (uint16_t)target_pitch,
         resist_chg  : resist_chg,
         margin      : margin,
         final_lat   : final_dest.lat,
         final_lng   : final_dest.lng,
+        final_alt   : final_dest.alt,
         oa_lat      : oa_dest.lat,
-        oa_lng      : oa_dest.lng
+        oa_lng      : oa_dest.lng,
+        oa_alt      : oa_dest.alt
     };
     WriteBlock(&pkt, sizeof(pkt));
 }

libraries/AP_Logger/LogStructure.h

@@ -1170,15 +1170,19 @@ struct PACKED log_SRTL {
 struct PACKED log_OABendyRuler {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t type;
     uint8_t active;
     uint16_t target_yaw;
     uint16_t yaw;
+    uint16_t target_pitch;
     bool resist_chg;
     float margin;
     int32_t final_lat;
     int32_t final_lng;
+    int32_t final_alt;
     int32_t oa_lat;
     int32_t oa_lng;
+    int32_t oa_alt;
 };
 
 struct PACKED log_OADijkstra {
@@ -1910,15 +1914,19 @@ struct PACKED log_Winch {
 // @LoggerMessage: OABR
 // @Description: Object avoidance (Bendy Ruler) diagnostics
 // @Field: TimeUS: Time since system startup
-// @Field: Active: True if Bendy Ruler avoidance is being used
-// @Field: DesYaw: Best yaw chosen to avoid obstacle
+// @Field: Type: Type of BendyRuler currently active
+// @Field: Act: True if Bendy Ruler avoidance is being used
+// @Field: DYaw: Best yaw chosen to avoid obstacle
 // @Field: Yaw: Current vehicle yaw
-// @Field: ResChg: True if BendyRuler resisted changing bearing and continued in last calculated bearing
+// @Field: DP: Desired pitch chosen to avoid obstacle
+// @Field: RChg: True if BendyRuler resisted changing bearing and continued in last calculated bearing
 // @Field: Mar: Margin from path to obstacle on best yaw chosen
-// @Field: DLat: Destination latitude
-// @Field: DLng: Destination longitude
-// @Field: OALat: Intermediate location chosen for avoidance
-// @Field: OALng: Intermediate location chosen for avoidance
+// @Field: DLt: Destination latitude
+// @Field: DLg: Destination longitude
+// @Field: DAlt: Desired alt
+// @Field: OLt: Intermediate location chosen for avoidance
+// @Field: OLg: Intermediate location chosen for avoidance
+// @Field: OAlt: Intermediate alt chosen for avoidance
 
 // @LoggerMessage: OADJ
 // @Description: Object avoidance (Dijkstra) diagnostics
@@ -2485,7 +2493,7 @@ struct PACKED log_Winch {
     { LOG_SRTL_MSG, sizeof(log_SRTL), \
       "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
     { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
-      "OABR","QBHHBfLLLL","TimeUS,Active,DesYaw,Yaw,ResChg,Mar,DLat,DLng,OALat,OALng", "sbdd-mDUDU", "F-----GGGG" }, \
+      "OABR","QBBHHHBfLLfLLf","TimeUS,Type,Act,DYaw,Yaw,DP,RChg,Mar,DLt,DLg,DAlt,OLt,OLg,OAlt", "s-bddd-mDUmDUm", "F-------GGBGGB" }, \
     { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
       "OADJ","QBBBBLLLL","TimeUS,State,Err,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbbDUDU", "F----GGGG" }, \
     { LOG_SIMPLE_AVOID_MSG, sizeof(log_SimpleAvoid), \