AP_Logger: Log all vibration instances

libraries/AP_Logger/LogFile.cpp

@@ -400,20 +400,25 @@ void AP_Logger::Write_IMUDT(uint64_t time_us, uint8_t imu_mask)
 
 void AP_Logger::Write_Vibration()
 {
-    uint64_t time_us = AP_HAL::micros64();
     const AP_InertialSensor &ins = AP::ins();
-    const Vector3f vibration = ins.get_vibration_levels();
-    const struct log_Vibe pkt{
-        LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
-        time_us     : time_us,
-        vibe_x      : vibration.x,
-        vibe_y      : vibration.y,
-        vibe_z      : vibration.z,
-        clipping_0  : ins.get_accel_clip_count(0),
-        clipping_1  : ins.get_accel_clip_count(1),
-        clipping_2  : ins.get_accel_clip_count(2)
-    };
-    WriteBlock(&pkt, sizeof(pkt));
+    const uint64_t time_us = AP_HAL::micros64();
+    for (uint8_t i = 0; i < INS_MAX_INSTANCES; i++) {
+        if (!ins.use_accel(i)) {
+            continue;
+        }
+
+        const Vector3f vibration = ins.get_vibration_levels(i);
+        const struct log_Vibe pkt{
+            LOG_PACKET_HEADER_INIT(LOG_VIBE_MSG),
+            time_us     : time_us,
+            imu         : i,
+            vibe_x      : vibration.x,
+            vibe_y      : vibration.y,
+            vibe_z      : vibration.z,
+            clipping  : ins.get_accel_clip_count(i)
+        };
+        WriteBlock(&pkt, sizeof(pkt));
+    }
 }
 
 void AP_Logger::Write_Command(const mavlink_command_int_t &packet,

libraries/AP_Logger/LogStructure.h

@@ -281,8 +281,9 @@ static_assert(sizeof(log_ISBD) < 256, "log_ISBD is over-size");
 struct PACKED log_Vibe {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t imu;
     float vibe_x, vibe_y, vibe_z;
-    uint32_t clipping_0, clipping_1, clipping_2;
+    uint32_t clipping;
 };
 
 struct PACKED log_RCIN {
@@ -2238,12 +2239,11 @@ struct PACKED log_PSC {
 // @LoggerMessage: VIBE
 // @Description: Processed (acceleration) vibration information
 // @Field: TimeUS: Time since system startup
+// @Field: IMU: Vibration instance number
 // @Field: VibeX: Primary accelerometer filtered vibration, x-axis
 // @Field: VibeY: Primary accelerometer filtered vibration, y-axis
 // @Field: VibeZ: Primary accelerometer filtered vibration, z-axis
-// @Field: Clip0: Number of clipping events on 1st accelerometer
-// @Field: Clip1: Number of clipping events on 2nd accelerometer
-// @Field: Clip2: Number of clipping events on 3rd accelerometer
+// @Field: Clip: Number of clipping events on 1st accelerometer
 
 // @LoggerMessage: VISO
 // @Description: Visual Odometry
@@ -2663,7 +2663,7 @@ struct PACKED log_PSC {
     { LOG_BAR3_MSG, sizeof(log_BARO), \
       "BAR3",  BARO_FMT, BARO_LABELS, BARO_UNITS, BARO_MULTS }, \
     { LOG_VIBE_MSG, sizeof(log_Vibe), \
-      "VIBE", "QfffIII",     "TimeUS,VibeX,VibeY,VibeZ,Clip0,Clip1,Clip2", "s------", "F------" }, \
+      "VIBE", "QBfffI",     "TimeUS,IMU,VibeX,VibeY,VibeZ,Clip", "s#----", "F-----" }, \
     { LOG_IMUDT_MSG, sizeof(log_IMUDT), \
       "IMT",IMT_FMT,IMT_LABELS, IMT_UNITS, IMT_MULTS }, \
     { LOG_IMUDT2_MSG, sizeof(log_IMUDT), \