From b670988e05db23eb0f3ff03fe911528ba4e867ed Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 13 Jul 2015 20:34:33 +0900
Subject: [PATCH] Plane: log IMUDT

---
 ArduPlane/ArduPlane.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 4569cafac6..eb2ff1e5c9 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -148,8 +148,10 @@ void Plane::ahrs_update()
         Log_Write_Attitude();
     }
 
-    if (should_log(MASK_LOG_IMU))
+    if (should_log(MASK_LOG_IMU)) {
         Log_Write_IMU();
+        DataFlash.Log_Write_IMUDT(ins);
+    }
 
     // calculate a scaled roll limit based on current pitch
     roll_limit_cd = g.roll_limit_cd * cosf(ahrs.pitch);