SITL: add logging for x8 inputs

libraries/SITL/SIM_Frame.cpp

@@ -22,6 +22,7 @@
 #include <AP_Filesystem/AP_Filesystem.h>
 #include "SIM_Aircraft.h"
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Logger/AP_Logger.h>
 
 #include <stdio.h>
 #include <sys/stat.h>
@@ -719,7 +720,11 @@ void Frame::calculate_forces_x8(const Aircraft &aircraft,
 	static float Dcollag;
 	static float Dpedlag;
 
-
+	float dlat_in = (servos_raw[0] / 500.0f) - 3.0f;  // roll
+	float dlong_in = (servos_raw[1] / 500.0f) - 3.0f;  //pitch
+	float dthr_in = (servos_raw[2] / 1000.0f) - 1.0f;  // throttle
+	float dped_in  = (servos_raw[3] / 500.0f) - 3.0f;  // yaw
+    Log_Write_SimData(dlong_in, dlat_in, dthr_in, dped_in);
 
 	float _roll_in = (_servos_delayed[0] / 500.0f) - 3.0f;  // roll
 	float _pitch_in = (_servos_delayed[1] / 500.0f) - 3.0f;  //pitch
@@ -836,3 +841,25 @@ void Frame::pull_from_buffer_ped(uint16_t &servo_delayed)
     servo_delayed = sample.servo;
 }
 
+void Frame::Log_Write_SimData(float dlong, float dlat, float dthr, float dped)
+{
+    // @LoggerMessage: SIMD
+    // @Description: Sim data packet
+    // @Vehicles: Copter
+    // @Field: TimeUS: Time since system startup
+    // @Field: dlng: longitudinal input
+    // @Field: dlat: lateral input
+    // @Field: dthr: throttle input
+    // @Field: dped: pedal input
+    AP::logger().WriteStreaming(
+        "SIMD",
+        "TimeUS,dlng,dlat,dthr,dped",
+        "s----",
+        "F0000",
+        "Qffff",
+        AP_HAL::micros64(),
+        dlong,
+        dlat,
+        dthr,
+        dped);
+}

libraries/SITL/SIM_Frame.h

@@ -202,5 +202,6 @@ class Frame {
     void push_to_buffer_col(const uint16_t servos_input[16]);
     void pull_from_buffer_col(uint16_t &servo_delayed);
 
+    void Log_Write_SimData(float dlong, float dlat, float dthr, float dped);
 };
 }