From 685fa383e45b5f2d780216719d2d7520256abf96 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 20 Dec 2014 06:47:34 +1100
Subject: [PATCH] DataFlash: Log EKF solution status message

This message is a bitmasked integer that will be used by control software to determine what data is available from the EKF and decide what control modes are available.
Duplicate static mode message removed. Static mode is now contained in the bitmasked solution status message
---
 libraries/DataFlash/DataFlash.h | 4 ++--
 libraries/DataFlash/LogFile.cpp | 8 ++++----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 3ecea32287..68fcfe2f34 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -345,8 +345,8 @@ struct PACKED log_EKF4 {
     int8_t  offsetNorth;
     int8_t  offsetEast;
     uint8_t faults;
-    uint8_t staticmode;
     uint8_t timeouts;
+    uint8_t solution;
 };
 
 struct PACKED log_EKF5 {
@@ -505,7 +505,7 @@ struct PACKED log_Esc {
     { LOG_EKF3_MSG, sizeof(log_EKF3), \
       "EKF3","Icccccchhhc","TimeMS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IVT" }, \
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
-      "EKF4","IcccccccbbBBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,StaticMode,TS" }, \
+      "EKF4","IcccccccbbBBB","TimeMS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,EFE,FS,TS,SS" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","IBLLHffHH","TimeMS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
     { LOG_UBX1_MSG, sizeof(log_Ubx1), \
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 59f8f3413d..32af97e9ba 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -982,11 +982,11 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
 	Vector3f magVar;
 	float tasVar;
     Vector2f offset;
-    uint8_t faultStatus;
-    uint8_t timeoutStatus;
+    uint8_t faultStatus, timeoutStatus, solutionStatus;
     ahrs.get_NavEKF().getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
     ahrs.get_NavEKF().getFilterFaults(faultStatus);
     ahrs.get_NavEKF().getFilterTimeouts(timeoutStatus);
+    ahrs.get_NavEKF().getFilterStatus(solutionStatus);
     struct log_EKF4 pkt4 = {
         LOG_PACKET_HEADER_INIT(LOG_EKF4_MSG),
         time_ms : hal.scheduler->millis(),
@@ -1000,8 +1000,8 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
         offsetNorth : (int8_t)(offset.x),
         offsetEast : (int8_t)(offset.y),
         faults : (uint8_t)(faultStatus),
-        staticmode : (uint8_t)(ahrs.get_NavEKF().getStaticMode()),
-        timeouts : (uint8_t)(timeoutStatus)
+        timeouts : (uint8_t)(timeoutStatus),
+        solution : (uint8_t)(solutionStatus)
     };
     WriteBlock(&pkt4, sizeof(pkt4));