AP_Logger: replace Write_OA with Write_OABendyRuler and Write_OADijkstra

libraries/AP_Logger/AP_Logger.h

@@ -273,7 +273,8 @@ 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_OA(uint8_t algorithm, const Location& final_dest, const Location& oa_dest);
+    void Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest);
+    void Write_OADijkstra(uint8_t state, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
 
     void Write(const char *name, const char *labels, const char *fmt, ...);
     void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);

libraries/AP_Logger/LogFile.cpp

@@ -971,16 +971,35 @@ 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_OA(uint8_t algorithm, const Location& final_dest, const Location& oa_dest)
+void AP_Logger::Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest)
 {
-    struct log_OA pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_OA_MSG),
+    struct log_OABendyRuler pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_OA_BENDYRULER_MSG),
         time_us     : AP_HAL::micros64(),
-        algorithm   : algorithm,
+        active      : active,
+        target_yaw  : (uint16_t)wrap_360(target_yaw),
+        yaw         : (uint16_t)wrap_360(AP::ahrs().yaw_sensor * 0.01f),
+        margin      : margin,
         final_lat   : final_dest.lat,
         final_lng   : final_dest.lng,
         oa_lat      : oa_dest.lat,
-        oa_lng      : oa_dest.lng,
+        oa_lng      : oa_dest.lng
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
+void AP_Logger::Write_OADijkstra(uint8_t state, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest)
+{
+    struct log_OADijkstra pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_OA_DIJKSTRA_MSG),
+        time_us     : AP_HAL::micros64(),
+        state       : state,
+        curr_point  : curr_point,
+        tot_points  : tot_points,
+        final_lat   : final_dest.lat,
+        final_lng   : final_dest.lng,
+        oa_lat      : oa_dest.lat,
+        oa_lng      : oa_dest.lng
     };
     WriteBlock(&pkt, sizeof(pkt));
 }

libraries/AP_Logger/LogStructure.h

@@ -1130,10 +1130,25 @@ struct PACKED log_SRTL {
     float D;
 };
 
-struct PACKED log_OA {
+struct PACKED log_OABendyRuler {
     LOG_PACKET_HEADER;
     uint64_t time_us;
-    uint8_t algorithm;
+    uint8_t active;
+    uint16_t target_yaw;
+    uint16_t yaw;
+    float margin;
+    int32_t final_lat;
+    int32_t final_lng;
+    int32_t oa_lat;
+    int32_t oa_lng;
+};
+
+struct PACKED log_OADijkstra {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t state;
+    uint8_t curr_point;
+    uint8_t tot_points;
     int32_t final_lat;
     int32_t final_lng;
     int32_t oa_lat;
@@ -1353,8 +1368,10 @@ struct PACKED log_Arm_Disarm {
       "PM",  "QHHIIHIIII", "TimeUS,NLon,NLoop,MaxT,Mem,Load,IntErr,IntErrCnt,SPICnt,I2CCnt", "s---b%----", "F---0A----" }, \
     { LOG_SRTL_MSG, sizeof(log_SRTL), \
       "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }, \
-    { LOG_OA_MSG, sizeof(log_OA), \
-      "OA","QBLLLL","TimeUS,Algo,DLat,DLng,OALat,OALng", "s-----", "F-GGGG" }
+    { LOG_OA_BENDYRULER_MSG, sizeof(log_OABendyRuler), \
+      "OABR","QBHHfLLLL","TimeUS,Active,DesYaw,Yaw,Mar,DLat,DLng,OALat,OALng", "sbddmDUDU", "F----GGGG" }, \
+    { LOG_OA_DIJKSTRA_MSG, sizeof(log_OADijkstra), \
+      "OADJ","QBBBLLLL","TimeUS,State,CurrPoint,TotPoints,DLat,DLng,OALat,OALng", "sbbbDUDU", "F---GGGG" }
 
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
@@ -1726,7 +1743,8 @@ enum LogMessages : uint8_t {
     LOG_ERROR_MSG,
     LOG_ADSB_MSG,
     LOG_ARM_DISARM_MSG,
-    LOG_OA_MSG,
+    LOG_OA_BENDYRULER_MSG,
+    LOG_OA_DIJKSTRA_MSG,
 
     _LOG_LAST_MSG_
 };