From 359dd3f71cd645b2325e72785f08e5451a0cd653 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Sat, 20 Jul 2019 14:37:11 +0800
Subject: [PATCH] AP_Logger: add logging for 3rd instance of EKF core

---
 libraries/AP_Logger/LogStructure.h | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index deda631038..4961a13d3c 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -1386,8 +1386,17 @@ struct PACKED log_Arm_Disarm {
       "NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
       "NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
+    { LOG_NKF11_MSG, sizeof(log_EKF1), \
+      "NK11","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
+    { LOG_NKF12_MSG, sizeof(log_NKF2), \
+      "NK12","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
+    { LOG_NKF13_MSG, sizeof(log_NKF3), \
+      "NK13","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
+    { LOG_NKF14_MSG, sizeof(log_NKF4), \
+      "NK14","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
+    { LOG_NKQ3_MSG, sizeof(log_Quaternion), "NKQ3", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKF1_MSG, sizeof(log_EKF1), \
       "XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
     { LOG_XKF2_MSG, sizeof(log_NKF2a), \
@@ -1408,8 +1417,17 @@ struct PACKED log_Arm_Disarm {
       "XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
       "XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
+    { LOG_XKF11_MSG, sizeof(log_EKF1), \
+      "XK11","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
+    { LOG_XKF12_MSG, sizeof(log_NKF2a), \
+      "XK12","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
+    { LOG_XKF13_MSG, sizeof(log_NKF3), \
+      "XK13","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
+    { LOG_XKF14_MSG, sizeof(log_NKF4), \
+      "XK14","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
+    { LOG_XKQ3_MSG, sizeof(log_Quaternion), "XKQ3", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
       "XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
     { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
@@ -1554,8 +1572,13 @@ enum LogMessages : uint8_t {
     LOG_NKF8_MSG,
     LOG_NKF9_MSG,
     LOG_NKF10_MSG,
+    LOG_NKF11_MSG,
+    LOG_NKF12_MSG,
+    LOG_NKF13_MSG,
+    LOG_NKF14_MSG,
     LOG_NKQ1_MSG,
     LOG_NKQ2_MSG,
+    LOG_NKQ3_MSG,
     LOG_XKF1_MSG,
     LOG_XKF2_MSG,
     LOG_XKF3_MSG,
@@ -1566,8 +1589,13 @@ enum LogMessages : uint8_t {
     LOG_XKF8_MSG,
     LOG_XKF9_MSG,
     LOG_XKF10_MSG,
+    LOG_XKF11_MSG,
+    LOG_XKF12_MSG,
+    LOG_XKF13_MSG,
+    LOG_XKF14_MSG,
     LOG_XKQ1_MSG,
     LOG_XKQ2_MSG,
+    LOG_XKQ3_MSG,
     LOG_XKFD_MSG,
     LOG_XKV1_MSG,
     LOG_XKV2_MSG,