From a378f2b8fa7e95d3f6bbabaadd4fcaae719449db Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 20 Apr 2019 11:26:05 +1000
Subject: [PATCH] AP_Logger: force logging on an armed watchdog reset

and don't clear sdcard space
---
 libraries/DataFlash/DataFlash.cpp      | 4 ++++
 libraries/DataFlash/DataFlash_File.cpp | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/DataFlash/DataFlash.cpp b/libraries/DataFlash/DataFlash.cpp
index 0ae3c5e839..c4941fc40a 100644
--- a/libraries/DataFlash/DataFlash.cpp
+++ b/libraries/DataFlash/DataFlash.cpp
@@ -84,6 +84,10 @@ DataFlash_Class::DataFlash_Class(const AP_Int32 &log_bitmask)
 void DataFlash_Class::Init(const struct LogStructure *structures, uint8_t num_types)
 {
     gcs().send_text(MAV_SEVERITY_INFO, "Preparing log system");
+    if (hal.util->was_watchdog_armed()) {
+        gcs().send_text(MAV_SEVERITY_INFO, "Forcing logging for watchdog reset");
+        _params.log_disarmed.set(1);
+    }
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     validate_structures(structures, num_types);
     dump_structures(structures, num_types);
diff --git a/libraries/DataFlash/DataFlash_File.cpp b/libraries/DataFlash/DataFlash_File.cpp
index 907f02e13c..39aee4b29c 100644
--- a/libraries/DataFlash/DataFlash_File.cpp
+++ b/libraries/DataFlash/DataFlash_File.cpp
@@ -342,6 +342,10 @@ uint16_t DataFlash_File::find_oldest_log()
 
 void DataFlash_File::Prep_MinSpace()
 {
+    if (hal.util->was_watchdog_reset()) {
+        // don't clear space if watchdog reset, it takes too long
+        return;
+    }
     const uint16_t first_log_to_remove = find_oldest_log();
     if (first_log_to_remove == 0) {
         // no files to remove