DataFlash: Add logging of EKF GPS check status

libraries/DataFlash/DataFlash.h

@@ -445,6 +445,7 @@ struct PACKED log_EKF4 {
     uint8_t faults;
     uint8_t timeouts;
     uint16_t solution;
+    uint16_t gps;
 };
 
 struct PACKED log_EKF5 {
@@ -805,7 +806,7 @@ Format characters in the format string for binary log messages
     { LOG_EKF3_MSG, sizeof(log_EKF3), \
       "EKF3","Qcccccchhhc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
-      "EKF4","QcccccccbbBBH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \
+      "EKF4","QcccccccbbBBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS,GPS" }, \
     { LOG_EKF5_MSG, sizeof(log_EKF5), \
       "EKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
     { LOG_NKF1_MSG, sizeof(log_EKF1), \
@@ -815,7 +816,7 @@ Format characters in the format string for binary log messages
     { LOG_NKF3_MSG, sizeof(log_NKF3), \
       "NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
     { LOG_NKF4_MSG, sizeof(log_EKF4), \
-      "NKF4","QcccccccbbBBH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \
+      "NKF4","QcccccccbbBBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS,GPS" }, \
     { LOG_NKF5_MSG, sizeof(log_EKF5), \
       "NKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \

libraries/DataFlash/LogFile.cpp

@@ -1225,10 +1225,12 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     Vector2f offset;
     uint8_t faultStatus, timeoutStatus;
     nav_filter_status solutionStatus;
+    nav_gps_status gpsStatus {};
     ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     ahrs.get_NavEKF().getFilterFaults(faultStatus);
     ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
     ahrs.get_NavEKF().getFilterStatus(solutionStatus);
+    ahrs.get_NavEKF().getFilterGpsStatus(gpsStatus);
     struct log_EKF4 pkt4 = {
         LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
         time_us : hal.scheduler->micros64(),
@@ -1243,7 +1245,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         offsetEast : (int8_t)(offset.y),
         faults : (uint8_t)(faultStatus),
         timeouts : (uint8_t)(timeoutStatus),
-        solution : (uint16_t)(solutionStatus.value)
+        solution : (uint16_t)(solutionStatus.value),
+        gps : (uint16_t)(gpsStatus.value)
     };
     WriteBlock(&pkt4, sizeof(pkt4));
 
@@ -1375,10 +1378,12 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     Vector2f offset;
     uint8_t faultStatus=0, timeoutStatus=0;
     nav_filter_status solutionStatus {};
+    nav_gps_status gpsStatus {};
     ahrs.get_NavEKF2().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     ahrs.get_NavEKF2().getFilterFaults(faultStatus);
     ahrs.get_NavEKF2().getFilterTimeouts(timeoutStatus);
     ahrs.get_NavEKF2().getFilterStatus(solutionStatus);
+    ahrs.get_NavEKF2().getFilterGpsStatus(gpsStatus);
     struct log_EKF4 pkt4 = {
         LOG_PACKET_HEADER_INIT(LOG_NKF4_MSG),
         time_us : hal.scheduler->micros64(),
@@ -1393,7 +1398,8 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         offsetEast : (int8_t)(offset.y),
         faults : (uint8_t)(faultStatus),
         timeouts : (uint8_t)(timeoutStatus),
-        solution : (uint16_t)(solutionStatus.value)
+        solution : (uint16_t)(solutionStatus.value),
+        gps : (uint16_t)(gpsStatus.value)
     };
     WriteBlock(&pkt4, sizeof(pkt4));