AP_Logger: log active EKF type as ATT.AEKF

libraries/AP_Logger/LogFile.cpp

@@ -577,7 +577,8 @@ void AP_Logger::Write_Attitude(const Vector3f &targets)
         control_yaw     : (uint16_t)wrap_360_cd(targets.z),
         yaw             : (uint16_t)wrap_360_cd(ahrs.yaw_sensor),
         error_rp        : (uint16_t)(ahrs.get_error_rp() * 100),
-        error_yaw       : (uint16_t)(ahrs.get_error_yaw() * 100)
+        error_yaw       : (uint16_t)(ahrs.get_error_yaw() * 100),
+        active          : ahrs.get_active_AHRS_type(),
     };
     WriteBlock(&pkt, sizeof(pkt));
 }

libraries/AP_Logger/LogStructure.h

@@ -525,6 +525,7 @@ struct PACKED log_Attitude {
     uint16_t yaw;
     uint16_t error_rp;
     uint16_t error_yaw;
+    uint8_t  active;
 };
 
 struct PACKED log_PID {
@@ -1143,6 +1144,7 @@ struct PACKED log_PSC {
 // @Field: Yaw: achieved vehicle yaw
 // @Field: ErrRP: lowest estimated gyro drift error
 // @Field: ErrYaw: difference between measured yaw and DCM yaw estimate
+// @Field: AEKF: active EKF type
 
 // @LoggerMessage: BARO
 // @Description: Gathered Barometer data
@@ -1935,7 +1937,7 @@ struct PACKED log_PSC {
     { LOG_CURRENT_CELLS_MSG, sizeof(log_Current_Cells), \
       "BCL", "QBfHHHHHHHHHHHH", "TimeUS,Instance,Volt,V1,V2,V3,V4,V5,V6,V7,V8,V9,V10,V11,V12", "s#vvvvvvvvvvvvv", "F-0CCCCCCCCCCCC" }, \
 	{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),\
-      "ATT", "QccccCCCC", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw", "sddddhhdh", "FBBBBBBBB" }, \
+      "ATT", "QccccCCCCB", "TimeUS,DesRoll,Roll,DesPitch,Pitch,DesYaw,Yaw,ErrRP,ErrYaw,AEKF", "sddddhhdh-", "FBBBBBBBB-" }, \
     { LOG_MAG_MSG, sizeof(log_MAG), \
       "MAG", "QBhhhhhhhhhBI",    "TimeUS,I,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOX,MOY,MOZ,Health,S", "s#GGGGGGGGG-s", "F-CCCCCCCCC-F" }, \
     { LOG_MODE_MSG, sizeof(log_Mode), \