From 06796cd994aa6a2d06b9d890fcb2a22e29d47f82 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Tue, 5 May 2015 17:17:08 -0700
Subject: [PATCH] Rover: if receiving last mission item then log new mission to
 dataflash

---
 APMrover2/GCS_Mavlink.pde |  4 +++-
 APMrover2/Log.pde         | 10 +++++++++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 99cfe6a0de..83112c5ed5 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -1068,7 +1068,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 	// XXX receive a WP from GCS and store in EEPROM
     case MAVLINK_MSG_ID_MISSION_ITEM:
         {
-            handle_mission_item(msg, mission);
+            if (handle_mission_item(msg, mission)) {
+                Log_Write_EntireMission();
+            }
             break;
         }
 
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 932880eca0..e6bdd3086c 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -244,9 +244,16 @@ static void Log_Write_Startup(uint8_t type)
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 
     // write all commands to the dataflash as well
+    Log_Write_EntireMission();
+}
+
+static void Log_Write_EntireMission()
+{
+    gcs_send_text_P(SEVERITY_LOW, PSTR("New mission"));
+
     AP_Mission::Mission_Command cmd;
     for (uint16_t i = 0; i < mission.num_commands(); i++) {
-        if(mission.read_cmd_from_storage(i,cmd)) {
+        if (mission.read_cmd_from_storage(i,cmd)) {
             Log_Write_Cmd(cmd);
         }
     }
@@ -430,6 +437,7 @@ static void start_logging()
 
 // dummy functions
 static void Log_Write_Startup(uint8_t type) {}
+static void Log_Write_EntireMission() {}
 static void Log_Write_Current() {}
 static void Log_Write_Nav_Tuning() {}
 static void Log_Write_Performance() {}