From 8b497cc61d8b1a037d98e74d0afb96f9d3e1c520 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Mon, 31 Dec 2012 13:32:27 +0900
Subject: [PATCH] ArduCopter: log watchdog event to dataflash

---
 ArduCopter/defines.h    | 5 +++--
 ArduCopter/events.pde   | 4 ++--
 ArduCopter/failsafe.pde | 3 ++-
 3 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index abb485250d..47d2b68ce6 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -446,8 +446,9 @@ enum gcs_severity {
 // subsystem specific error codes -- radio
 #define ERROR_CODE_RADIO_LATE_FRAME         2
 // subsystem specific error codes -- failsafe
-#define ERROR_CODE_RADIO_FAILSAFE_THROTTLE  2
-#define ERROR_CODE_RADIO_FAILSAFE_BATTERY   3
+#define ERROR_CODE_FAILSAFE_THROTTLE  2
+#define ERROR_CODE_FAILSAFE_BATTERY   3
+#define ERROR_CODE_FAILSAFE_WATCHDOG  4
 
 
 
diff --git a/ArduCopter/events.pde b/ArduCopter/events.pde
index 7a7f4e3260..7b189af963 100644
--- a/ArduCopter/events.pde
+++ b/ArduCopter/events.pde
@@ -48,7 +48,7 @@ static void failsafe_on_event()
     }
 
     // log the error to the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_THROTTLE);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE);
 
 }
 
@@ -95,7 +95,7 @@ static void low_battery_event(void)
 
     // warn the ground station and log to dataflash
     gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_BATTERY);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY);
 
 #if COPTER_LEDS == ENABLED
     if ( bitRead(g.copter_leds_mode, 3) ) {         // Only Activate if a battery is connected to avoid alarm on USB only
diff --git a/ArduCopter/failsafe.pde b/ArduCopter/failsafe.pde
index c39dc7d9c1..09dfb51859 100644
--- a/ArduCopter/failsafe.pde
+++ b/ArduCopter/failsafe.pde
@@ -48,13 +48,14 @@ void failsafe_check(uint32_t tnow)
         in_failsafe = true;
     }
 
-    if (in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
+    if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
         // disarm motors every second
         failsafe_last_timestamp = tnow;
         if(motors.armed()) {
             motors.armed(false);
         	set_armed(true);
             motors.output();
+            Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_WATCHDOG);
         }
     }
 }
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