DataFlash: support SafeRTL log messages

libraries/DataFlash/DataFlash.h

@@ -146,6 +146,7 @@ public:
     void Log_Write_AOA_SSA(AP_AHRS &ahrs);
     void Log_Write_Beacon(AP_Beacon &beacon);
     void Log_Write_Proximity(AP_Proximity &proximity);
+    void Log_Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& point);
 
     void Log_Write(const char *name, const char *labels, const char *fmt, ...);
 

libraries/DataFlash/LogFile.cpp

@@ -1967,3 +1967,19 @@ void DataFlash_Class::Log_Write_Proximity(AP_Proximity &proximity)
     };
     WriteBlock(&pkt_proximity, sizeof(pkt_proximity));
 }
+
+void DataFlash_Class::Log_Write_SRTL(bool active, uint16_t num_points, uint16_t max_points, uint8_t action, const Vector3f& breadcrumb)
+{
+    struct log_SRTL pkt_srtl = {
+        LOG_PACKET_HEADER_INIT(LOG_SRTL_MSG),
+        time_us         : AP_HAL::micros64(),
+        active          : active,
+        num_points      : num_points,
+        max_points      : max_points,
+        action          : action,
+        N               : breadcrumb.x,
+        E               : breadcrumb.y,
+        D               : breadcrumb.z
+    };
+    WriteBlock(&pkt_srtl, sizeof(pkt_srtl));
+}

libraries/DataFlash/LogStructure.h

@@ -885,6 +885,18 @@ struct PACKED log_Proximity {
     float closest_dist;
 };
 
+struct PACKED log_SRTL {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t active;
+    uint16_t num_points;
+    uint16_t max_points;
+    uint8_t action;
+    float N;
+    float E;
+    float D;
+};
+
 // #endif // SBP_HW_LOGGING
 
 #define ACC_LABELS "TimeUS,SampleUS,AccX,AccY,AccZ"
@@ -1014,7 +1026,9 @@ Format characters in the format string for binary log messages
     { LOG_BEACON_MSG, sizeof(log_Beacon), \
       "BCN", "QBBfffffff",  "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ" }, \
     { LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
-      "PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" }
+      "PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis" }, \
+    { LOG_SRTL_MSG, sizeof(log_SRTL), \
+      "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D" }
 
 // messages for more advanced boards
 #define LOG_EXTRA_STRUCTURES \
@@ -1310,7 +1324,7 @@ enum LogMessages {
     LOG_BEACON_MSG,
     LOG_PROXIMITY_MSG,
     LOG_DF_FILE_STATS,
-
+    LOG_SRTL_MSG,
 };
 
 enum LogOriginType {