AP_Logger: remove `Write_ServoStatus` and `CSRV` definition

libraries/AP_Logger/AP_Logger.h

@@ -262,8 +262,6 @@ public:
     void Write_Radio(const mavlink_radio_t &packet);
     void Write_Message(const char *message);
     void Write_MessageF(const char *fmt, ...);
-    void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct,
-                           float pos_cmd, float voltage, float current, float mot_temp, float pcb_temp, uint8_t error);
     void Write_Compass();
     void Write_Mode(uint8_t mode, const ModeReason reason);
 

libraries/AP_Logger/LogFile.cpp

@@ -452,31 +452,6 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
     return WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
-/*
-  write servo status from CAN servo
- */
-void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct,
-                                  float pos_cmd, float voltage, float current, float mot_temp, float pcb_temp, uint8_t error)
-{
-    const struct log_CSRV pkt {
-        LOG_PACKET_HEADER_INIT(LOG_CSRV_MSG),
-        time_us     : time_us,
-        id          : id,
-        position    : position,
-        force       : force,
-        speed       : speed,
-        power_pct   : power_pct,
-        pos_cmd     : pos_cmd,
-        voltage     : voltage,
-        current     : current,
-        mot_temp    : mot_temp,
-        pcb_temp    : pcb_temp,
-        error       : error,
-    };
-    WriteBlock(&pkt, sizeof(pkt));
-}
-
-
 // Write a Yaw PID packet
 void AP_Logger::Write_PID(uint8_t msg_type, const AP_PIDInfo &info)
 {

libraries/AP_Logger/LogStructure.h

@@ -148,6 +148,7 @@ const struct MultiplierStructure log_Multipliers[] = {
 #include <AC_AttitudeControl/LogStructure.h>
 #include <AP_HAL/LogStructure.h>
 #include <AP_Mission/LogStructure.h>
+#include <AP_Servo_Telem/LogStructure.h>
 
 // structure used to define logging format
 // It is packed on ChibiOS to save flash space; however, this causes problems
@@ -477,22 +478,6 @@ struct PACKED log_TERRAIN {
     float reference_offset;
 };
 
-struct PACKED log_CSRV {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;     
-    uint8_t id;
-    float position;
-    float force;
-    float speed;
-    uint8_t power_pct;
-    float pos_cmd;
-    float voltage;
-    float current;
-    float mot_temp;
-    float pcb_temp;
-    uint8_t error;
-};
-
 struct PACKED log_ARSP {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -699,21 +684,6 @@ struct PACKED log_VER {
 // @Field: TR: innovation test ratio
 // @Field: Pri: True if sensor is the primary sensor
 
-// @LoggerMessage: CSRV
-// @Description: Servo feedback data
-// @Field: TimeUS: Time since system startup
-// @Field: Id: Servo number this data relates to
-// @Field: Pos: Current servo position
-// @Field: Force: Force being applied
-// @Field: Speed: Current servo movement speed
-// @Field: Pow: Amount of rated power being applied
-// @Field: PosCmd: commanded servo position
-// @Field: V: Voltage
-// @Field: A: Current
-// @Field: MotT: motor temperature
-// @Field: PCBT: PCB temperature
-// @Field: Err: error flags
-
 // @LoggerMessage: DMS
 // @Description: DataFlash-Over-MAVLink statistics
 // @Field: TimeUS: Time since system startup
@@ -1223,8 +1193,7 @@ LOG_STRUCTURE_FROM_AVOIDANCE \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHHf","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded,ROfs", "s-DU-mm--m", "F-GG-00--0", true }, \
 LOG_STRUCTURE_FROM_ESC_TELEM \
-    { LOG_CSRV_MSG, sizeof(log_CSRV), \
+LOG_STRUCTURE_FROM_SERVO_TELEM \
-      "CSRV","QBfffBfffffB","TimeUS,Id,Pos,Force,Speed,Pow,PosCmd,V,A,MotT,PCBT,Err", "s#---%dvAOO-", "F-000000000-", false }, \
     { LOG_PIDR_MSG, sizeof(log_PID), \
       "PIDR", PID_FMT,  PID_LABELS, PID_UNITS, PID_MULTS, true },  \
     { LOG_PIDP_MSG, sizeof(log_PID), \
@@ -1307,7 +1276,7 @@ enum LogMessages : uint8_t {
     LOG_IDS_FROM_CAMERA,
     LOG_IDS_FROM_MOUNT,
     LOG_TERRAIN_MSG,
-    LOG_CSRV_MSG,
+    LOG_IDS_FROM_SERVO_TELEM,
     LOG_IDS_FROM_ESC_TELEM,
     LOG_IDS_FROM_BATTMONITOR,
     LOG_IDS_FROM_HAL_CHIBIOS,