Enable logging of mavlink tunnel messages

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>

src/modules/logger/logged_topics.cpp

@@ -299,6 +299,11 @@ void LoggedTopics::add_system_identification_topics()
 	add_topic("vehicle_torque_setpoint");
 }
 
+void LoggedTopics::add_mavlink_tunnel()
+{
+	add_topic("mavlink_tunnel");
+}
+
 int LoggedTopics::add_topics_from_file(const char *fname)
 {
 	int ntopics = 0;
@@ -496,4 +501,8 @@ void LoggedTopics::initialize_configured_topics(SDLogProfileMask profile)
 	if (profile & SDLogProfileMask::RAW_IMU_ACCEL_FIFO) {
 		add_raw_imu_accel_fifo();
 	}
+
+	if (profile & SDLogProfileMask::MAVLINK_TUNNEL) {
+		add_mavlink_tunnel();
+	}
 }

src/modules/logger/logged_topics.h

@@ -53,7 +53,8 @@ enum class SDLogProfileMask : int32_t {
 	SENSOR_COMPARISON =     1 << 6,
 	VISION_AND_AVOIDANCE =  1 << 7,
 	RAW_IMU_GYRO_FIFO =     1 << 8,
-	RAW_IMU_ACCEL_FIFO =    1 << 9
+	RAW_IMU_ACCEL_FIFO =    1 << 9,
+	MAVLINK_TUNNEL =        1 << 10
 };
 
 enum class MissionLogType : int32_t {
@@ -168,6 +169,7 @@ private:
 	void add_vision_and_avoidance_topics();
 	void add_raw_imu_gyro_fifo();
 	void add_raw_imu_accel_fifo();
+	void add_mavlink_tunnel();
 
 	/**
 	 * add a logged topic (called by add_topic() above).

src/modules/logger/params.c

@@ -125,9 +125,10 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
  * 7 : Topics for computer vision and collision avoidance
  * 8 : Raw FIFO high-rate IMU (Gyro)
  * 9 : Raw FIFO high-rate IMU (Accel)
+ * 10: Logging of mavlink tunnel message (useful for payload communication debugging)
  *
  * @min 0
- * @max 1023
+ * @max 2047
  * @bit 0 Default set (general log analysis)
  * @bit 1 Estimator replay (EKF2)
  * @bit 2 Thermal calibration
@@ -138,6 +139,7 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
  * @bit 7 Computer Vision and Avoidance
  * @bit 8 Raw FIFO high-rate IMU (Gyro)
  * @bit 9 Raw FIFO high-rate IMU (Accel)
+ * @bit 10 Mavlink tunnel message logging
  * @reboot_required true
  * @group SD Logging
  */