AC_PrecLand: Improve logging

Add unit/multiplier of new fields to log structure
Fix new log structure

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -199,6 +199,12 @@ bool AC_PrecLand::get_target_position_cm(Vector2f& ret)
     return true;
 }
 
+void AC_PrecLand::get_target_position_measurement_cm(Vector3f& ret)
+{
+    ret = _target_pos_rel_meas_NED*100.0f;
+    return;
+}
+
 bool AC_PrecLand::get_target_position_relative_cm(Vector2f& ret)
 {
     if (!target_acquired()) {

libraries/AC_PrecLand/AC_PrecLand.h

@@ -59,12 +59,24 @@ public:
     // returns time of last update
     uint32_t last_update_ms() const { return _last_update_ms; }
 
+    // returns time of last time target was seen
+    uint32_t last_backend_los_meas_ms() const { return _last_backend_los_meas_ms; }
+
+    // returns estimator type
+    uint8_t estimator_type() const { return _estimator_type; }
+
+    // returns ekf outlier count
+    uint32_t ekf_outlier_count() const { return _outlier_reject_count; }
+
     // give chance to driver to get updates from sensor, should be called at 400hz
     void update(float rangefinder_alt_cm, bool rangefinder_alt_valid);
 
     // returns target position relative to the EKF origin
     bool get_target_position_cm(Vector2f& ret);
 
+    // returns target relative position as 3D vector
+    void get_target_position_measurement_cm(Vector3f& ret);
+
     // returns target position relative to vehicle
     bool get_target_position_relative_cm(Vector2f& ret);