From fcee82f9b24bfb4d7b80c4f214e321ef5d222ee2 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 10 May 2016 16:07:56 +1000
Subject: [PATCH] DataFlash: extend ekf fault status reporting coverage

---
 libraries/DataFlash/LogFile.cpp    | 12 +++++++-----
 libraries/DataFlash/LogStructure.h | 10 +++++-----
 2 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index ab5753f95a..0e40afe379 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -1216,7 +1216,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         Vector3f magVar;
         float tasVar;
         Vector2f offset;
-        uint8_t faultStatus, timeoutStatus;
+        uint16_t faultStatus;
+        uint8_t timeoutStatus;
         nav_filter_status solutionStatus;
         nav_gps_status gpsStatus {};
         ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
@@ -1236,7 +1237,7 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
             sqrtvarVT : (int16_t)(100*tasVar),
             offsetNorth : (int8_t)(offset.x),
             offsetEast : (int8_t)(offset.y),
-            faults : (uint8_t)(faultStatus),
+            faults : (uint16_t)(faultStatus),
             timeouts : (uint8_t)(timeoutStatus),
             solution : (uint16_t)(solutionStatus.value),
             gps : (uint16_t)(gpsStatus.value)
@@ -1375,7 +1376,8 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     Vector3f magVar;
     float tasVar = 0;
     Vector2f offset;
-    uint8_t faultStatus=0, timeoutStatus=0;
+    uint16_t faultStatus=0;
+    uint8_t timeoutStatus=0;
     nav_filter_status solutionStatus {};
     nav_gps_status gpsStatus {};
     ahrs.get_NavEKF2().getVariances(0,velVar, posVar, hgtVar, magVar, tasVar, offset);
@@ -1398,7 +1400,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         tiltErr : (float)tiltError,
         offsetNorth : (int8_t)(offset.x),
         offsetEast : (int8_t)(offset.y),
-        faults : (uint8_t)(faultStatus),
+        faults : (uint16_t)(faultStatus),
         timeouts : (uint8_t)(timeoutStatus),
         solution : (uint16_t)(solutionStatus.value),
         gps : (uint16_t)(gpsStatus.value),
@@ -1524,7 +1526,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
             tiltErr : (float)tiltError,
             offsetNorth : (int8_t)(offset.x),
             offsetEast : (int8_t)(offset.y),
-            faults : (uint8_t)(faultStatus),
+            faults : (uint16_t)(faultStatus),
             timeouts : (uint8_t)(timeoutStatus),
             solution : (uint16_t)(solutionStatus.value),
             gps : (uint16_t)(gpsStatus.value),
diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index fdc84c95ee..25f9f78413 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -314,7 +314,7 @@ struct PACKED log_EKF4 {
     int16_t sqrtvarVT;
     int8_t  offsetNorth;
     int8_t  offsetEast;
-    uint8_t faults;
+    uint16_t faults;
     uint8_t timeouts;
     uint16_t solution;
     uint16_t gps;
@@ -331,7 +331,7 @@ struct PACKED log_NKF4 {
     float   tiltErr;
     int8_t  offsetNorth;
     int8_t  offsetEast;
-    uint8_t faults;
+    uint16_t faults;
     uint8_t timeouts;
     uint16_t solution;
     uint16_t gps;
@@ -782,7 +782,7 @@ Format characters in the format string for binary log messages
     { LOG_EKF3_MSG, sizeof(log_EKF3), \
       "EKF3","Qcccccchhhc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
-      "EKF4","QcccccccbbBBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,OFE,FS,TS,SS,GPS" }, \
+      "EKF4","QcccccccbbHBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,OFE,FS,TS,SS,GPS" }, \
     { LOG_EKF5_MSG, sizeof(log_EKF5), \
       "EKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
     { LOG_NKF1_MSG, sizeof(log_EKF1), \
@@ -792,7 +792,7 @@ Format characters in the format string for binary log messages
     { LOG_NKF3_MSG, sizeof(log_NKF3), \
       "NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
     { LOG_NKF4_MSG, sizeof(log_NKF4), \
-      "NKF4","QcccccfbbBBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
+      "NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
     { LOG_NKF5_MSG, sizeof(log_EKF5), \
       "NKF5","QBhhhcccCC","TimeUS,normInnov,FIX,FIY,AFI,HAGL,offset,RI,meaRng,errHAGL" }, \
     { LOG_NKF6_MSG, sizeof(log_EKF1), \
@@ -802,7 +802,7 @@ Format characters in the format string for binary log messages
     { LOG_NKF8_MSG, sizeof(log_NKF3), \
       "NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
     { LOG_NKF9_MSG, sizeof(log_NKF4), \
-      "NKF9","QcccccfbbBBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
+      "NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
     { LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \