AP_Logger: split out EKF messages and prepare for new replay

adds core to more EKF message structures

Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>

libraries/AP_Logger/LogStructure.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <AP_Common/AP_Common.h>
+
 // if you add any new types, units or multipliers, please update README.md
 
 /*
@@ -115,6 +117,10 @@ const struct MultiplierStructure log_Multipliers[] = {
 #define HEAD_BYTE1  0xA3    // Decimal 163
 #define HEAD_BYTE2  0x95    // Decimal 149
 
+#include <AP_DAL/LogStructure.h>
+#include <AP_NavEKF2/LogStructure.h>
+#include <AP_NavEKF3/LogStructure.h>
+
 // structure used to define logging format
 struct LogStructure {
     uint8_t msg_type;
@@ -553,6 +559,7 @@ struct PACKED log_NKF4 {
 struct PACKED log_EKF5 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     uint8_t normInnov;
     int16_t FIX;
     int16_t FIY;
@@ -567,6 +574,7 @@ struct PACKED log_EKF5 {
 struct PACKED log_NKF5 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     uint8_t normInnov;
     int16_t FIX;
     int16_t FIY;
@@ -605,6 +613,7 @@ struct PACKED log_Quaternion {
 struct PACKED log_RngBcnDebug {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     uint8_t ID;             // beacon identifier
     int16_t rng;            // beacon range (cm)
     int16_t innov;          // beacon range innovation (cm)
@@ -668,6 +677,7 @@ struct PACKED log_VisualVelocity {
 struct PACKED log_ekfBodyOdomDebug {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     float velInnovX;
     float velInnovY;
     float velInnovZ;
@@ -679,6 +689,7 @@ struct PACKED log_ekfBodyOdomDebug {
 struct PACKED log_ekfStateVar {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     float v00;
     float v01;
     float v02;
@@ -2589,9 +2600,9 @@ struct PACKED log_PSC {
     { LOG_NKF4_MSG, sizeof(log_NKF4), \
       "NKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
     { LOG_NKF5_MSG, sizeof(log_NKF5), \
-      "NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
+      "NKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
     { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
-      "NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
+      "NKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \
     { LOG_NKQ_MSG, sizeof(log_Quaternion), "NKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKF1_MSG, sizeof(log_EKF1), \
       "XKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
@@ -2602,18 +2613,18 @@ struct PACKED log_PSC {
     { LOG_XKF4_MSG, sizeof(log_NKF4), \
       "XKF4","QBcccccfbbHBIHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
     { LOG_XKF5_MSG, sizeof(log_NKF5), \
-      "XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
+      "XKF5","QBBhhhcccCCfff","TimeUS,C,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s#----m???mrnm", "F-----BBBBB000" }, \
     { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
-      "XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
+      "XKF0","QBBccCCcccccccc","TimeUS,C,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s#-m---mmmmmmmm", "F--B---BBBBBBBB" }, \
     { LOG_XKFS_MSG, sizeof(log_EKFS), \
       "XKFS","QBBBBB","TimeUS,C,MI,BI,GI,AI", "s#----", "F-----" }, \
     { LOG_XKQ_MSG, sizeof(log_Quaternion), "XKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
-      "XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
+      "XKFD","QBffffff","TimeUS,C,IX,IY,IZ,IVX,IVY,IVZ", "s#------", "F-------" }, \
     { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
-      "XKV1","Qffffffffffff","TimeUS,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s------------", "F------------" }, \
+      "XKV1","QBffffffffffff","TimeUS,C,V00,V01,V02,V03,V04,V05,V06,V07,V08,V09,V10,V11", "s#------------", "F-------------" }, \
     { LOG_XKV2_MSG, sizeof(log_ekfStateVar), \
-      "XKV2","Qffffffffffff","TimeUS,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s------------", "F------------" }, \
+      "XKV2","QBffffffffffff","TimeUS,C,V12,V13,V14,V15,V16,V17,V18,V19,V20,V21,V22,V23", "s#------------", "F-------------" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded", "s-DU-mm--", "F-GG-00--" }, \
     { LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
@@ -2678,6 +2689,9 @@ struct PACKED log_PSC {
       "ISBD",ISBD_FMT,ISBD_LABELS, ISBD_UNITS, ISBD_MULTS }, \
     { LOG_ORGN_MSG, sizeof(log_ORGN), \
       "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s-DUm", "F-GGB" },   \
+LOG_STRUCTURE_FROM_DAL \
+LOG_STRUCTURE_FROM_NAVEKF2 \
+LOG_STRUCTURE_FROM_NAVEKF3 \
     { LOG_DF_FILE_STATS, sizeof(log_DSF), \
       "DSF", "QIHIIII", "TimeUS,Dp,Blk,Bytes,FMn,FMx,FAv", "s--b---", "F--0---" }, \
     { LOG_RPM_MSG, sizeof(log_RPM), \
@@ -2806,6 +2820,10 @@ enum LogMessages : uint8_t {
 
     LOG_FORMAT_MSG = 128, // this must remain #128
 
+    LOG_IDS_FROM_DAL,
+    LOG_IDS_FROM_NAVEKF2,
+    LOG_IDS_FROM_NAVEKF3,
+
     LOG_GPS_RAWS_MSG,
     LOG_ACC1_MSG,
     LOG_ACC2_MSG,