From 3fce7eb21a804f83020c1725569ec0e294a136fc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 24 Jun 2015 12:13:16 +1000
Subject: [PATCH] Plane: use common mission logging code

---
 ArduPlane/GCS_Mavlink.cpp    |  4 ++--
 ArduPlane/Log.cpp            | 22 +---------------------
 ArduPlane/Plane.h            |  2 --
 ArduPlane/commands_logic.cpp |  2 +-
 4 files changed, 4 insertions(+), 26 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 48268ea2f5..544da6f6ed 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1460,11 +1460,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-    // GCS has sent us a command from GCS, store to EEPROM
+    // GCS has sent us a mission item, store to EEPROM
     case MAVLINK_MSG_ID_MISSION_ITEM:
     {
         if (handle_mission_item(msg, plane.mission)) {
-            plane.Log_Write_EntireMission();
+            plane.DataFlash.Log_Write_EntireMission(plane.mission);
         }
         break;
     }
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 798b19f8e3..487ce21e69 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -221,14 +221,6 @@ void Plane::Log_Write_Performance()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write a mission command. Total length : 36 bytes
-void Plane::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_Startup {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -248,19 +240,7 @@ void Plane::Log_Write_Startup(uint8_t type)
 
     // write all commands to the dataflash as well
     if (should_log(MASK_LOG_CMD)) {
-        Log_Write_EntireMission();
-    }
-}
-
-void Plane::Log_Write_EntireMission()
-{
-    DataFlash.Log_Write_Message_P(PSTR("New mission"));
-
-    AP_Mission::Mission_Command cmd;
-    for (uint16_t i = 0; i < mission.num_commands(); i++) {
-        if (mission.read_cmd_from_storage(i,cmd)) {
-            Log_Write_Cmd(cmd);
-        }
+        DataFlash.Log_Write_EntireMission(mission);
     }
 }
 
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index b44ad3a1ea..ba6036c2fd 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -672,7 +672,6 @@ private:
     void Log_Write_Attitude(void);
     void Log_Write_Performance();
     void Log_Write_Startup(uint8_t type);
-    void Log_Write_EntireMission();
     void Log_Write_Control_Tuning();
     void Log_Write_TECS_Tuning(void);
     void Log_Write_Nav_Tuning();
@@ -906,7 +905,6 @@ private:
     void do_digicam_control(const AP_Mission::Mission_Command& cmd);
     bool start_command_callback(const AP_Mission::Mission_Command &cmd);
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
-    void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd);
     void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
     void run_cli(AP_HAL::UARTDriver *port);
     void log_init();
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 51bb006847..6147867e3d 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -9,7 +9,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
 {
     // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
-        Log_Write_Cmd(cmd);
+        DataFlash.Log_Write_Mission_Cmd(mission, cmd);
     }
 
     // special handling for nav vs non-nav commands