From f30ad1d2dce8f3762b7b1d4e7cd29c72456fca6a Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 15 May 2021 13:45:43 +1000
Subject: [PATCH] AP_Logger: log which RC channels are being overridden

---
 libraries/AP_Logger/AP_Logger.h    |  2 +-
 libraries/AP_Logger/LogFile.cpp    | 18 +++++++++++++-----
 libraries/AP_Logger/LogStructure.h |  3 ++-
 3 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 65e111d5e4..8e1e0e4730 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -488,7 +488,7 @@ private:
     bool _armed;
 
     // state to help us not log unneccesary RCIN values:
-    bool seen_nonzero_rcin15_or_rcin16;
+    bool should_log_rcin2;
 
     void Write_Compass_instance(uint64_t time_us, uint8_t mag_instance);
 
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 9f3ecb893f..7d76ee255d 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -149,20 +149,28 @@ void AP_Logger::Write_RCIN(void)
     };
     WriteBlock(&pkt, sizeof(pkt));
 
+    const uint16_t override_mask = rc().get_override_mask();
+
     // don't waste logging bandwidth if we haven't seen non-zero
     // channels 15/16:
-    if (!seen_nonzero_rcin15_or_rcin16) {
-        if (!values[14] && !values[15]) {
-            return;
+    if (!should_log_rcin2) {
+        if (values[14] || values[15]) {
+            should_log_rcin2 = true;
+        } else if (override_mask != 0) {
+            should_log_rcin2 = true;
         }
-        seen_nonzero_rcin15_or_rcin16 = true;
+    }
+
+    if (!should_log_rcin2) {
+        return;
     }
 
     const struct log_RCIN2 pkt2{
         LOG_PACKET_HEADER_INIT(LOG_RCIN2_MSG),
         time_us       : AP_HAL::micros64(),
         chan15         : values[14],
-        chan16         : values[15]
+        chan16         : values[15],
+        override_mask  : override_mask,
     };
     WriteBlock(&pkt2, sizeof(pkt2));
 }
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 47b8da22ad..f42eb1c809 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -247,6 +247,7 @@ struct PACKED log_RCIN2 {
     uint64_t time_us;
     uint16_t chan15;
     uint16_t chan16;
+    uint16_t override_mask;
 };
 
 struct PACKED log_RCOUT {
@@ -1223,7 +1224,7 @@ LOG_STRUCTURE_FROM_GPS \
     { LOG_RCIN_MSG, sizeof(log_RCIN), \
       "RCIN",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------" }, \
     { LOG_RCIN2_MSG, sizeof(log_RCIN2), \
-      "RCI2",  "QHH",     "TimeUS,C15,C16", "sYY", "F--" }, \
+      "RCI2",  "QHHH",     "TimeUS,C15,C16,OMask", "sYY-", "F---" }, \
     { LOG_RCOUT_MSG, sizeof(log_RCOUT), \
       "RCOU",  "QHHHHHHHHHHHHHH",     "TimeUS,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,C12,C13,C14", "sYYYYYYYYYYYYYY", "F--------------"  }, \
     { LOG_RSSI_MSG, sizeof(log_RSSI), \