From d9f605ed369d030b2d727076315be8ed3ae19aef Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Apr 2022 20:57:42 +1000
Subject: [PATCH] AP_Baro: move error logging of sensor health into AP_Baro

---
 libraries/AP_Baro/AP_Baro.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 0447cae0bd..fee8cfa727 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -851,6 +851,10 @@ void AP_Baro::update(void)
         _alt_offset_active = _alt_offset;
     }
 
+#if HAL_LOGGING_ENABLED
+    bool old_primary_healthy = sensors[_primary].healthy;
+#endif
+
     for (uint8_t i=0; i<_num_drivers; i++) {
         drivers[i]->backend_update(i);
     }
@@ -905,6 +909,16 @@ void AP_Baro::update(void)
     if (should_log()) {
         Write_Baro();
     }
+
+#define MASK_LOG_ANY                    0xFFFF
+
+    // log sensor healthy state change:
+    if (sensors[_primary].healthy != old_primary_healthy) {
+        if (AP::logger().should_log(MASK_LOG_ANY)) {
+            const LogErrorCode code = sensors[_primary].healthy ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY;
+            AP::logger().Write_Error(LogErrorSubsystem::BARO, code);
+        }
+    }
 #endif
 }