From 2f8daf2fa9c1afaa062f0a70ea89c0556a961bd5 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 16 Mar 2014 17:41:59 +0900
Subject: [PATCH] Copter: integrate dataflash Log_Write_MavCmd

---
 ArduCopter/Log.pde            | 9 +++++++++
 ArduCopter/commands.pde       | 2 +-
 ArduCopter/commands_logic.pde | 2 +-
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index abf13d6973..31a10b7a39 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -422,6 +422,14 @@ static void Log_Write_Performance()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
+// Write a mission command. Total length : 36 bytes
+static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
+{
+    mavlink_mission_item_t mav_cmd = {};
+    AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
+    DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
+}
+
 struct PACKED log_Attitude {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -770,6 +778,7 @@ static void Log_Write_Optflow() {}
 static void Log_Write_Nav_Tuning() {}
 static void Log_Write_Control_Tuning() {}
 static void Log_Write_Performance() {}
+static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 static void Log_Write_Camera() {}
 static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
 static void Log_Write_Baro(void);
diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index e3b7b3c788..82626ef8cd 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -24,7 +24,7 @@ static void init_home()
     if (g.log_bitmask & MASK_LOG_CMD) {
         AP_Mission::Mission_Command temp_cmd;
         if (mission.read_cmd_from_storage(0, temp_cmd)) {
-            DataFlash.Log_Write_Cmd(mission.num_commands(),temp_cmd);
+            Log_Write_Cmd(temp_cmd);
         }
     }
 
diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 21db8018e5..00d2e4f22c 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -21,7 +21,7 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
 {
     // To-Do: logging when new commands start/end
     if (g.log_bitmask & MASK_LOG_CMD) {
-        DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
+        Log_Write_Cmd(cmd);
     }
 
     switch(cmd.id) {