From 94d641d3d5f3e15295bb63296bedd073609859be Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 20 Nov 2019 10:37:29 +0900
Subject: [PATCH] AP_Logger: ESC logging includes motor temperature

---
 libraries/AP_Logger/AP_Logger.h    |  2 +-
 libraries/AP_Logger/LogFile.cpp    |  7 ++++---
 libraries/AP_Logger/LogStructure.h | 11 ++++++-----
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 2bdd3e14b5..7e7a9dbd22 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -257,7 +257,7 @@ public:
     void Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us=0);
     void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
     void Write_Trigger(const Location &current_loc);
-    void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot);
+    void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp);
     void Write_Attitude(const Vector3f &targets);
     void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
     void Write_Current();
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index ebcc173b54..df2bfd0a85 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -780,7 +780,7 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
 //   current is in centi-amps
 //   temperature is in centi-degrees Celsius
 //   current_tot is in centi-amp hours
-void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot)
+void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp)
 {
     // sanity check id
     if (id >= 8) {
@@ -792,8 +792,9 @@ void AP_Logger::Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t vo
         rpm         : rpm,
         voltage     : voltage,
         current     : current,
-        temperature : temperature,
-        current_tot : current_tot
+        esc_temp    : esc_temp,
+        current_tot : current_tot,
+        motor_temp  : motor_temp
     };
     WriteBlock(&pkt, sizeof(pkt));
 }
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 98f14d735a..4612fe5892 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -937,8 +937,9 @@ struct PACKED log_Esc {
     int32_t rpm;
     uint16_t voltage;
     uint16_t current;
-    int16_t temperature;
+    int16_t esc_temp;
     uint16_t current_tot;
+    int16_t motor_temp;
 };
 
 struct PACKED log_AIRSPEED {
@@ -1219,10 +1220,10 @@ struct PACKED log_Arm_Disarm {
 #define BARO_UNITS "smPOnsmO-"
 #define BARO_MULTS "F00B0C?0-"
 
-#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot"
-#define ESC_FMT   "QeCCcH"
-#define ESC_UNITS "sqvAO-"
-#define ESC_MULTS "FBBBB-"
+#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot,MotTemp"
+#define ESC_FMT   "QeCCcHc"
+#define ESC_UNITS "sqvAO-O"
+#define ESC_MULTS "FBBBB-B"
 
 #define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
 #define GPA_FMT   "QCCCCfBIH"