Merge remote-tracking branch 'px4/pr/2200' into lidarlite_merge

src/modules/mavlink/mavlink_receiver.cpp

@@ -420,7 +420,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.timestamp = hrt_absolute_time();
+	d.timestamp = flow.integration_time_us * 1000; /* ms to us */
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
 	d.current_distance = flow.distance; /* both are in m */

src/modules/sdlog2/sdlog2_messages.h

@@ -488,7 +488,6 @@ struct log_PARM_s {
 };
 
 #pragma pack(pop)
-
 /* construct list of all message formats */
 static const struct log_format_s log_formats[] = {
 	/* business-level messages, ID < 0x80 */
@@ -516,7 +515,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(ESC, "HBBBHHffiffH",		"count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
 	LOG_FORMAT(GVSP, "fff",			"VX,VY,VZ"),
 	LOG_FORMAT(BATT, "ffff",		"V,VFilt,C,Discharged"),
-	LOG_FORMAT(DIST, "ffB",			"Bottom,BottomRate,Flags"),
+	LOG_FORMAT(DIST, "iiff",			"Type,Orientation,Distance,Covariance"),
 	LOG_FORMAT_S(TEL0, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL1, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
 	LOG_FORMAT_S(TEL2, TEL, "BBBBHHBQ",		"RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),