DataFlash: added baro dataflash logging

libraries/DataFlash/DataFlash.h

@@ -10,6 +10,7 @@
 #include <AP_Param.h>
 #include <AP_GPS.h>
 #include <AP_InertialSensor.h>
+#include <AP_Baro.h>
 #include <stdint.h>
 
 class DataFlash_Class
@@ -49,6 +50,7 @@ public:
     void Log_Write_IMU(const AP_InertialSensor &ins);
     void Log_Write_RCIN(void);
     void Log_Write_RCOUT(void);
+    void Log_Write_Baro(AP_Baro &baro);
     void Log_Write_Message(const char *message);
     void Log_Write_Message_P(const prog_char_t *message);
 
@@ -201,6 +203,14 @@ struct PACKED log_RCOUT {
     uint16_t chan8;
 };
 
+struct PACKED log_BARO {
+    LOG_PACKET_HEADER;
+    uint32_t timestamp;
+    float   altitude;
+    float   pressure;
+    int16_t temperature;
+};
+
 #define LOG_COMMON_STRUCTURES \
     { LOG_FORMAT_MSG, sizeof(log_Format), \
       "FMT", "BBnNZ",      "Type,Length,Name,Format" },    \
@@ -217,7 +227,9 @@ struct PACKED log_RCOUT {
     { LOG_RCIN_MSG, sizeof(log_RCIN), \
       "RCIN",  "Ihhhhhhhh",     "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
     { LOG_RCOUT_MSG, sizeof(log_RCOUT), \
-      "RCOU",  "Ihhhhhhhh",     "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }
+      "RCOU",  "Ihhhhhhhh",     "TimeMS,Chan1,Chan2,Chan3,Chan4,Chan5,Chan6,Chan7,Chan8" }, \
+    { LOG_BARO_MSG, sizeof(log_BARO), \
+      "BARO",  "Iffc",     "TimeMS,Alt,Press,Temp" }
 
 // message types for common messages
 #define LOG_FORMAT_MSG	  128
@@ -228,6 +240,7 @@ struct PACKED log_RCOUT {
 #define LOG_RCIN_MSG      133
 #define LOG_RCOUT_MSG     134
 #define LOG_IMU2_MSG	  135
+#define LOG_BARO_MSG	  136
 
 #include "DataFlash_Block.h"
 #include "DataFlash_File.h"

libraries/DataFlash/LogFile.cpp

@@ -5,6 +5,7 @@
 #include <stdlib.h>
 #include <AP_Param.h>
 #include <AP_Math.h>
+#include <AP_Baro.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -707,6 +708,18 @@ void DataFlash_Class::Log_Write_RCOUT(void)
     WriteBlock(&pkt, sizeof(pkt));
 }
 
+// Write a BARO packet
+void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
+{
+    struct log_BARO pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
+        timestamp     : hal.scheduler->millis(),
+        altitude      : baro.get_altitude(),
+        pressure	  : baro.get_pressure(),
+        temperature   : (int16_t)(baro.get_temperature() * 100),
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
 
 // Write an raw accel/gyro data packet
 void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)