From cee05038124e20c4053bd63319efd2200338490a Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 15 Dec 2021 19:00:05 +0000
Subject: [PATCH] AP_Logger: add video stab log structure

---
 libraries/AP_AHRS/LogStructure.h   | 34 +++++++++++++++++++++++++++++-
 libraries/AP_Logger/LogStructure.h |  1 +
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/LogStructure.h b/libraries/AP_AHRS/LogStructure.h
index 50acb5dd1b..6ca732e9d6 100644
--- a/libraries/AP_AHRS/LogStructure.h
+++ b/libraries/AP_AHRS/LogStructure.h
@@ -139,6 +139,35 @@ struct PACKED log_Rate {
     float   accel_out;
 };
 
+// @LoggerMessage: VSTB
+// @Description: Log message for video stabilisation software such as Gyroflow
+// @Field: TimeUS: Time since system startup
+// @Field: GyrX: measured rotation rate about X axis
+// @Field: GyrY: measured rotation rate about Y axis
+// @Field: GyrZ: measured rotation rate about Z axis
+// @Field: AccX: acceleration along X axis
+// @Field: AccY: acceleration along Y axis
+// @Field: AccZ: acceleration along Z axis
+// @Field: Q1: Estimated attitude quaternion component 1
+// @Field: Q2: Estimated attitude quaternion component 2
+// @Field: Q3: Estimated attitude quaternion component 3
+// @Field: Q4: Estimated attitude quaternion component 4
+
+struct PACKED log_Gyroflow {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    float gyro_x;
+    float gyro_y;
+    float gyro_z;
+    float accel_x;
+    float accel_y;
+    float accel_z;
+    float Q1;
+    float Q2;
+    float Q3;
+    float Q4;
+};
+
 
 #define LOG_STRUCTURE_FROM_AHRS \
     { LOG_AHR2_MSG, sizeof(log_AHRS), \
@@ -152,4 +181,7 @@ struct PACKED log_Rate {
     { LOG_POS_MSG, sizeof(log_POS), \
         "POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \
     { LOG_RATE_MSG, sizeof(log_Rate), \
-        "RATE", "Qffffffffffff",  "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" , true },
+        "RATE", "Qffffffffffff",  "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut", "skk-kk-kk-oo-", "F?????????BB-" , true }, \
+    { LOG_GYROFLOW_MSG, sizeof(log_Gyroflow), \
+        "VSTB", "Qffffffffff",  "TimeUS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ,Q1,Q2,Q3,Q4", "sEEEooo????", "F000000????" },
+
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index a802803937..5bb46ef2d8 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -1427,6 +1427,7 @@ enum LogMessages : uint8_t {
     LOG_STAK_MSG,
     LOG_FILE_MSG,
     LOG_SCRIPTING_MSG,
+    LOG_VIDEO_STABILISATION_MSG,
 
     _LOG_LAST_MSG_
 };