BinaryLog: escape characters in byte arrays

Some byte arrays in logs are raw binary data, containing problematic characters (like newlines and other unprintables). Others are printable
strings meant to be displayed. This allows both to be handled.

ExtLibs/Utilities/BinaryLog.cs

@@ -7,6 +7,7 @@
 using System.IO;
 using System.Runtime.InteropServices;
 using uint8_t = System.Byte;
+using System.Diagnostics;
 
 namespace MissionPlanner.Utilities
 {
@@ -158,7 +159,18 @@ public string ReadMessage(Stream br, long length)
                                                   if (a.IsNumber())
                                                       return (((IConvertible)a).ToString(CultureInfo.InvariantCulture));
                                                   else if (a is System.Byte[])
-                                                      return System.Text.Encoding.ASCII.GetString(a as byte[]).Trim('\0');
+                                                  {
+                                                      var str = Encoding.ASCII.GetString(a as byte[]).Trim('\0');
+                                                      // Escape \ as \\
+                                                      str = str.Replace("\\", "\\\\");
+                                                      // Escape certain whitespace characters
+                                                      str = str.Replace("\n", "\\n");
+                                                      str = str.Replace("\r", "\\r");
+                                                      str = str.Replace("\t", "\\t");
+                                                      // Escape all other non-printable characters
+                                                      str = str.Select(c => (c < 32 || c > 127) ? $"\\x{Convert.ToByte(c):X2}" : $"{c}").Aggregate((x, y) => $"{x}{y}");
+                                                      return str;
+                                                  }
                                                   else
                                                       return a?.ToString();
                                               })) + "\r\n";