From d4733441777fb38c94746643096d527359d4bbdd Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 15 Dec 2021 19:09:08 +0000
Subject: [PATCH] Plane: add video stab log bit and log in ahrs_update

---
 ArduPlane/ArduPlane.cpp  | 4 ++++
 ArduPlane/Parameters.cpp | 2 +-
 ArduPlane/defines.h      | 1 +
 3 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index cdf6175cc3..b1113de0f7 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -189,6 +189,10 @@ void Plane::ahrs_update()
     // update inertial_nav for quadplane
     quadplane.inertial_nav.update();
 #endif
+
+    if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
+        ahrs.write_video_stabilisation();
+    }
 }
 
 /*
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index f5903998e4..b30a0d9db3 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -618,7 +618,7 @@ const AP_Param::Info Plane::var_info[] = {
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
     // @Description: Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535
-    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE
+    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:MODE,7:IMU,8:CMD,9:CURRENT,10:COMPASS,11:TECS,12:CAMERA,13:RC,14:SONAR,15:ARM/DISARM,19:IMU_RAW,20:ATTITUDE_FULLRATE,21:VideoStabilization
     // @User: Advanced
     GSCALAR(log_bitmask,            "LOG_BITMASK",    DEFAULT_LOG_BITMASK),
 
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 99e50ad98a..17e8fa4498 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -118,6 +118,7 @@ enum log_messages {
 // #define MASK_LOG_ARM_DISARM             (1<<15)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
 #define MASK_LOG_ATTITUDE_FULLRATE      (1U<<20)
+#define MASK_LOG_VIDEO_STABILISATION    (1UL<<21)
 
 // altitude control algorithms
 enum {