From eab42c57407fb3e89751ad2d585e75dfff47d4be Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 2 May 2016 08:51:13 +1000
Subject: [PATCH] Plane: fixed attitude logging with fast logging off

---
 ArduPlane/ArduPlane.cpp |  2 +-
 ArduPlane/Log.cpp       | 11 ++++++++---
 ArduPlane/Plane.h       |  1 +
 3 files changed, 10 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 7376d11017..fb8f95c52d 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -74,7 +74,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_trigger,         50,    100),
     SCHED_TASK(log_perf_info,         0.2,    100),
     SCHED_TASK(compass_save,          0.1,    200),
-    SCHED_TASK(Log_Write_Attitude,     25,    300),
+    SCHED_TASK(Log_Write_Fast,         25,    300),
     SCHED_TASK(update_logging1,        10,    300),
     SCHED_TASK(update_logging2,        10,    300),
     SCHED_TASK(parachute_check,        10,    200),
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index d4d8e3300f..be5b1dabc3 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -159,9 +159,6 @@ void Plane::do_erase_logs(void)
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
 {
-    if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
-        return;
-    }
     Vector3f targets;       // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
     targets.x = nav_roll_cd;
     targets.y = nav_pitch_cd;
@@ -194,6 +191,14 @@ void Plane::Log_Write_Attitude(void)
     DataFlash.Log_Write_POS(ahrs);
 }
 
+// do logging at loop rate
+void Plane::Log_Write_Fast(void)
+{
+    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
+        Log_Write_Attitude();
+    }
+}
+
 
 struct PACKED log_Performance {
     LOG_PACKET_HEADER;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 63a76ad8ab..6105464053 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -779,6 +779,7 @@ private:
     void gcs_retry_deferred(void);
 
     void do_erase_logs(void);
+    void Log_Write_Fast(void);
     void Log_Write_Attitude(void);
     void Log_Write_Performance();
     void Log_Write_Startup(uint8_t type);