mirror of https://github.com/ArduPilot/ardupilot
Rover: always log MODE and include reason when logging is enabled
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@ -62,7 +62,7 @@ enum mode {
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_PM (1<<3)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_CTUN (1<<4)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_NTUN (1<<5)
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#define MASK_LOG_MODE (1<<6)
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//#define MASK_LOG_MODE (1<<6) // no longer used
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#define MASK_LOG_IMU (1<<7)
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#define MASK_LOG_IMU (1<<7)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CMD (1<<8)
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#define MASK_LOG_CURRENT (1<<9)
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#define MASK_LOG_CURRENT (1<<9)
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@ -232,10 +232,8 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
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old_mode.exit();
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old_mode.exit();
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if (should_log(MASK_LOG_MODE)) {
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control_mode_reason = reason;
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control_mode_reason = reason;
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DataFlash.Log_Write_Mode(control_mode->mode_number(), reason);
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DataFlash.Log_Write_Mode(control_mode->mode_number(), control_mode_reason);
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}
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notify_mode((enum mode)control_mode->mode_number());
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notify_mode((enum mode)control_mode->mode_number());
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return true;
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return true;
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