From 1793ee804e8e6d41fbbc1efe27ec0e20866a0750 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 7 Jan 2014 22:41:56 +0900
Subject: [PATCH] Copter: remove armed check before logging

---
 ArduCopter/ArduCopter.pde | 34 +++++++++++++++++-----------------
 ArduCopter/inertia.pde    |  2 +-
 2 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 3f70e8b886..c6edf7da87 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1099,7 +1099,7 @@ static void update_batt_compass(void)
             compass.null_offsets();
         }
         // log compass information
-        if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
+        if (g.log_bitmask & MASK_LOG_COMPASS) {
             Log_Write_Compass();
         }
     }
@@ -1113,16 +1113,14 @@ static void update_batt_compass(void)
 // should be run at 10hz
 static void ten_hz_logging_loop()
 {
-    if(motors.armed()) {
-        if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
-            Log_Write_Attitude();
-        }
-        if (g.log_bitmask & MASK_LOG_RCIN) {
-            DataFlash.Log_Write_RCIN();
-        }
-        if (g.log_bitmask & MASK_LOG_RCOUT) {
-            DataFlash.Log_Write_RCOUT();
-        }
+    if (g.log_bitmask & MASK_LOG_ATTITUDE_MED) {
+        Log_Write_Attitude();
+    }
+    if (g.log_bitmask & MASK_LOG_RCIN) {
+        DataFlash.Log_Write_RCIN();
+    }
+    if (g.log_bitmask & MASK_LOG_RCOUT) {
+        DataFlash.Log_Write_RCOUT();
     }
 }
 
@@ -1135,13 +1133,14 @@ static void fifty_hz_logging_loop()
     gcs_send_message(MSG_RADIO_OUT);
 #endif
 
-# if HIL_MODE == HIL_MODE_DISABLED
-    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed()) {
+#if HIL_MODE == HIL_MODE_DISABLED
+    if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST) {
         Log_Write_Attitude();
     }
 
-    if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
+    if (g.log_bitmask & MASK_LOG_IMU) {
         DataFlash.Log_Write_IMU(ins);
+    }
 #endif
 }
 
@@ -1180,8 +1179,9 @@ static void one_hz_loop()
     wp_nav.set_lean_angle_max(g.angle_max);
 
     // log battery info to the dataflash
-    if ((g.log_bitmask & MASK_LOG_CURRENT) && motors.armed())
+    if (g.log_bitmask & MASK_LOG_CURRENT) {
         Log_Write_Current();
+    }
 
     // perform pre-arm checks & display failures every 30 seconds
     static uint8_t pre_arm_display_counter = 15;
@@ -1256,7 +1256,7 @@ static void update_GPS(void)
         last_gps_reading = g_gps->last_message_time_ms();
 
         // log GPS message
-        if ((g.log_bitmask & MASK_LOG_GPS) && motors.armed()) {
+        if (g.log_bitmask & MASK_LOG_GPS) {
             DataFlash.Log_Write_GPS(g_gps, current_loc.alt);
         }
 
@@ -2092,7 +2092,7 @@ static void update_altitude()
 #endif  // HIL_MODE == HIL_MODE_ATTITUDE
 
     // write altitude info to dataflash logs
-    if ((g.log_bitmask & MASK_LOG_CTUN) && motors.armed()) {
+    if (g.log_bitmask & MASK_LOG_CTUN) {
         Log_Write_Control_Tuning();
     }
 }
diff --git a/ArduCopter/inertia.pde b/ArduCopter/inertia.pde
index 7b65532082..fe20639f7a 100644
--- a/ArduCopter/inertia.pde
+++ b/ArduCopter/inertia.pde
@@ -8,7 +8,7 @@ static void read_inertia()
     // inertial altitude estimates
     inertial_nav.update(G_Dt);
 
-    if( motors.armed() && (g.log_bitmask & MASK_LOG_INAV) ) {
+    if (g.log_bitmask & MASK_LOG_INAV) {
         log_counter_inav++;
         if( log_counter_inav >= 10 ) {
             log_counter_inav = 0;