From 296fb567ca8e658b46d94938aa5a020ded42cf06 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <gncsolns@gmail.com>
Date: Sat, 14 Nov 2020 20:50:50 +1100
Subject: [PATCH] AP_DAL: Enable default airspeed variance to be specified
 externally

---
 libraries/AP_DAL/AP_DAL.cpp     | 6 ++++--
 libraries/AP_DAL/AP_DAL.h       | 4 ++--
 libraries/AP_DAL/LogStructure.h | 5 +++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index c074e5d57a..934d4ef308 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -174,11 +174,12 @@ void AP_DAL::log_SetOriginLLH2(const Location &loc)
 #endif
 }
 
-void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed)
+void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed, const float uncertainty)
 {
 #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
     struct log_RWA2 pkt{
         airspeed:      aspeed,
+        uncertainty:   uncertainty,
     };
     WRITE_REPLAY_BLOCK(RWA2, pkt);
 #endif
@@ -207,11 +208,12 @@ void AP_DAL::log_SetOriginLLH3(const Location &loc)
 #endif
 }
 
-void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed)
+void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty)
 {
 #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
     struct log_RWA3 pkt{
         airspeed:      aspeed,
+        uncertainty:   uncertainty
     };
     WRITE_REPLAY_BLOCK(RWA3, pkt);
 #endif
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 9a831abaac..c8027b090b 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -75,11 +75,11 @@ public:
 
     void log_event2(Event event);
     void log_SetOriginLLH2(const Location &loc);
-    void log_writeDefaultAirSpeed2(float aspeed);
+    void log_writeDefaultAirSpeed2(const float aspeed, const float uncertainty);
 
     void log_event3(Event event);
     void log_SetOriginLLH3(const Location &loc);
-    void log_writeDefaultAirSpeed3(float aspeed);
+    void log_writeDefaultAirSpeed3(const float aspeed, const float uncertainty);
     void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);
 
     enum class StateMask {
diff --git a/libraries/AP_DAL/LogStructure.h b/libraries/AP_DAL/LogStructure.h
index 6f60628ac3..8d39ac8b13 100644
--- a/libraries/AP_DAL/LogStructure.h
+++ b/libraries/AP_DAL/LogStructure.h
@@ -115,6 +115,7 @@ struct log_RSO2 {
 // @Description: Replay set-default-airspeed event
 struct log_RWA2 {
     float airspeed;
+    float uncertainty;
     uint8_t _end;
 };
 
@@ -365,13 +366,13 @@ struct log_RBOH {
     { LOG_RSO2_MSG, RLOG_SIZE(RSO2),                         \
       "RSO2", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
     { LOG_RWA2_MSG, RLOG_SIZE(RWA2),                         \
-      "RWA2", "f", "Airspeed", "n", "0" }, \
+      "RWA2", "ff", "Airspeed,uncertainty", "nn", "00" }, \
     { LOG_REV3_MSG, RLOG_SIZE(REV3),                \
       "REV3", "B", "Event", "-", "-" }, \
     { LOG_RSO3_MSG, RLOG_SIZE(RSO3),                         \
       "RSO3", "III", "Lat,Lon,Alt", "DUm", "GGB" }, \
     { LOG_RWA3_MSG, RLOG_SIZE(RWA3),                         \
-      "RWA3", "f", "Airspeed", "n", "0" }, \
+      "RWA3", "ff", "Airspeed,Uncertainty", "nn", "00" }, \
     { LOG_REY3_MSG, RLOG_SIZE(REY3),                                   \
       "REY3", "ffIB", "yawangle,yawangleerr,timestamp_ms,type", "???-", "???-" }, \
     { LOG_RISH_MSG, RLOG_SIZE(RISH),                                   \