Copter: added LOG_BITMASK 1<<19 for logging raw accel/gyro data

useful for checking vibration handling

ArduCopter/ArduCopter.pde

@@ -1088,6 +1088,9 @@ static void one_hz_loop()
 
     // update position controller alt limits
     update_poscon_alt_max();
+
+    // enable/disable raw gyro/accel logging
+    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
 }
 
 // called at 50hz

ArduCopter/defines.h

@@ -258,6 +258,7 @@ enum FlipState {
 #define MASK_LOG_WHEN_DISARMED          (1UL<<16)
 #define MASK_LOG_MOTBATT                (1UL<<17)
 #define MASK_LOG_IMU_FAST               (1UL<<18)
+#define MASK_LOG_IMU_RAW                (1UL<<19)
 #define MASK_LOG_ANY                    0xFFFF
 
 // DATA - event logging

ArduCopter/system.pde

@@ -261,6 +261,9 @@ static void init_ardupilot()
     // enable CPU failsafe
     failsafe_enable();
 
+    ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
+    ins.set_dataflash(&DataFlash);
+
     cliSerial->print_P(PSTR("\nReady to FLY "));
 
     // flag that initialisation has completed