sdlog2: Log actuator output group 1 as well

src/modules/sdlog2/sdlog2.c

@@ -1116,7 +1116,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_STAT_s log_STAT;
 			struct log_VTOL_s log_VTOL;
 			struct log_RC_s log_RC;
-			struct log_OUT0_s log_OUT0;
+			struct log_OUT_s log_OUT;
 			struct log_AIRS_s log_AIRS;
 			struct log_ARSP_s log_ARSP;
 			struct log_FLOW_s log_FLOW;
@@ -1160,6 +1160,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 		int att_sp_sub;
 		int rates_sp_sub;
 		int act_outputs_sub;
+		int act_outputs_1_sub;
 		int act_controls_sub;
 		int act_controls_1_sub;
 		int local_pos_sub;
@@ -1198,6 +1199,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	subs.att_sp_sub = -1;
 	subs.rates_sp_sub = -1;
 	subs.act_outputs_sub = -1;
+	subs.act_outputs_1_sub = -1;
 	subs.act_controls_sub = -1;
 	subs.act_controls_1_sub = -1;
 	subs.local_pos_sub = -1;
@@ -1526,8 +1528,14 @@ int sdlog2_thread_main(int argc, char *argv[])
 		/* --- ACTUATOR OUTPUTS --- */
 		if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_sub, &buf.act_outputs)) {
 			log_msg.msg_type = LOG_OUT0_MSG;
-			memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
-			LOGBUFFER_WRITE_AND_COUNT(OUT0);
+			memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
+			LOGBUFFER_WRITE_AND_COUNT(OUT);
+		}
+
+		if (copy_if_updated(ORB_ID(actuator_outputs), &subs.act_outputs_1_sub, &buf.act_outputs)) {
+			log_msg.msg_type = LOG_OUT1_MSG;
+			memcpy(log_msg.body.log_OUT.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT.output));
+			LOGBUFFER_WRITE_AND_COUNT(OUT);
 		}
 
 		/* --- ACTUATOR CONTROL --- */

src/modules/sdlog2/sdlog2_messages.h

@@ -195,9 +195,9 @@ struct log_RC_s {
 	uint32_t frame_drop;
 };
 
-/* --- OUT0 - ACTUATOR_0 OUTPUT --- */
+/* --- OUT - ACTUATOR OUTPUT --- */
 #define LOG_OUT0_MSG 12
-struct log_OUT0_s {
+struct log_OUT_s {
 	float output[8];
 };
 
@@ -479,6 +479,8 @@ struct log_MACS_s {
 	float yaw_rate_integ;
 };
 
+/* WARNING: ID 46 is already in use for ATTC1 */
+
 /* --- CONTROL STATE --- */
 #define LOG_CTS_MSG 47
 struct log_CTS_s {
@@ -491,7 +493,7 @@ struct log_CTS_s {
 	float yaw_rate;
 };
 
-/* WARNING: ID 46 is already in use for ATTC1 */
+#define LOG_OUT1_MSG 50
 
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
@@ -535,7 +537,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(VTOL, "f",		"Arsp"),
 	LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
 	LOG_FORMAT(RC, "ffffffffffffBBBL",		"C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
-	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT_S(OUT0, OUT, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
+	LOG_FORMAT_S(OUT1, OUT, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),
 	LOG_FORMAT(FLOW, "BffffffLLHhB",	"ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"),