From f7d07fc146f0c47fe63ce7bc5cf41b785fb68a32 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@intel.com>
Date: Mon, 23 Oct 2017 17:38:52 -0700
Subject: [PATCH] Rover: always log MODE and include reason when logging is
 enabled

---
 APMrover2/defines.h  | 2 +-
 APMrover2/system.cpp | 6 ++----
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index a9957a508b..02f7e74599 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -62,7 +62,7 @@ enum mode {
 #define MASK_LOG_PM             (1<<3)
 #define MASK_LOG_CTUN           (1<<4)
 #define MASK_LOG_NTUN           (1<<5)
-#define MASK_LOG_MODE           (1<<6)
+//#define MASK_LOG_MODE         (1<<6) // no longer used
 #define MASK_LOG_IMU            (1<<7)
 #define MASK_LOG_CMD            (1<<8)
 #define MASK_LOG_CURRENT        (1<<9)
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index c0dfaef6ff..e98f9b1ad3 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -232,10 +232,8 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
 
     old_mode.exit();
 
-    if (should_log(MASK_LOG_MODE)) {
-        control_mode_reason = reason;
-        DataFlash.Log_Write_Mode(control_mode->mode_number(), reason);
-    }
+    control_mode_reason = reason;
+    DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
 
     notify_mode((enum mode)control_mode->mode_number());
     return true;