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Copter: simplify should_log (NFC)

This commit is contained in:
Peter Barker 2017-06-09 13:14:13 +10:00 committed by Randy Mackay
parent c9a4119ee9
commit cfd6d95927
1 changed files with 12 additions and 4 deletions
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16
ArduCopter/system.cpp
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@ -492,14 +492,22 @@ void Copter::check_usb_mux(void)
bool Copter::should_log(uint32_t mask)
{
#if LOGGING_ENABLED == ENABLED
if (!(mask & g.log_bitmask) || in_mavlink_delay) {
if (in_mavlink_delay) {
return false;
}
bool ret = motors->armed() || DataFlash.log_while_disarmed();
if (ret && !DataFlash.logging_started() && !in_log_download) {
if (!(mask & g.log_bitmask)) {
return false;
}
if (!motors->armed() && !DataFlash.log_while_disarmed()) {
return false;
}
if (in_log_download) {
return false;
}
if (!DataFlash.logging_started()) {
start_logging();
}
return ret;
return true;
#else
return false;
#endif