From 1e5b9e487b34281ba74dabefa00bd3571e174cc8 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Fri, 3 Sep 2021 19:00:45 +0100
Subject: [PATCH] AP_Arming: set force disarmed logging for all the nasty
 disarm reasons

---
 libraries/AP_Arming/AP_Arming.cpp | 50 +++++++++++++++++++++++++++++++
 libraries/AP_Arming/AP_Arming.h   |  3 ++
 2 files changed, 53 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 34cc11ae37..3f0b4cb869 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1339,6 +1339,8 @@ bool AP_Arming::disarm(const AP_Arming::Method method, bool do_disarm_checks)
 
     Log_Write_Disarm(method); // should be able to pass through force here?
 
+    check_forced_logging(method);
+
 #if HAL_HAVE_SAFETY_SWITCH
     AP_BoardConfig *board_cfg = AP_BoardConfig::get_singleton();
     if ((board_cfg != nullptr) &&
@@ -1478,6 +1480,54 @@ void AP_Arming::Log_Write_Disarm(const AP_Arming::Method method)
     AP::logger().Write_Event(LogEvent::DISARMED);
 }
 
+// check if we should keep logging after disarming
+void AP_Arming::check_forced_logging(const AP_Arming::Method method)
+{
+    // keep logging if disarmed for a bad reason
+    switch(method) {
+        case Method::TERMINATION:
+        case Method::CPUFAILSAFE:
+        case Method::BATTERYFAILSAFE:
+        case Method::AFS:
+        case Method::ADSBCOLLISIONACTION:
+        case Method::PARACHUTE_RELEASE:
+        case Method::CRASH:
+        case Method::FENCEBREACH:
+        case Method::RADIOFAILSAFE:
+        case Method::GCSFAILSAFE:
+        case Method::TERRRAINFAILSAFE:
+        case Method::FAILSAFE_ACTION_TERMINATE:
+        case Method::TERRAINFAILSAFE:
+        case Method::BADFLOWOFCONTROL:
+        case Method::EKFFAILSAFE:
+        case Method::GCS_FAILSAFE_SURFACEFAILED:
+        case Method::GCS_FAILSAFE_HOLDFAILED:
+        case Method::PILOT_INPUT_FAILSAFE:
+            // keep logging for longger if disarmed for a bad reason
+            AP::logger().set_long_log_persist(true);
+            return;
+
+        case Method::RUDDER:
+        case Method::MAVLINK:
+        case Method::AUXSWITCH:
+        case Method::MOTORTEST:
+        case Method::SCRIPTING:
+        case Method::SOLOPAUSEWHENLANDED:
+        case Method::LANDED:
+        case Method::MISSIONEXIT:
+        case Method::DISARMDELAY:
+        case Method::MOTORDETECTDONE:
+        case Method::TAKEOFFTIMEOUT:
+        case Method::AUTOLANDED:
+        case Method::TOYMODELANDTHROTTLE:
+        case Method::TOYMODELANDFORCE:
+        case Method::LANDING:
+        case Method::UNKNOWN:
+            AP::logger().set_long_log_persist(false);
+            return;
+    };
+}
+
 AP_Arming *AP_Arming::_singleton = nullptr;
 
 /*
diff --git a/libraries/AP_Arming/AP_Arming.h b/libraries/AP_Arming/AP_Arming.h
index 138278314f..56f97c7833 100644
--- a/libraries/AP_Arming/AP_Arming.h
+++ b/libraries/AP_Arming/AP_Arming.h
@@ -211,6 +211,9 @@ private:
     bool ins_accels_consistent(const AP_InertialSensor &ins);
     bool ins_gyros_consistent(const AP_InertialSensor &ins);
 
+    // check if we should keep logging after disarming
+    void check_forced_logging(const AP_Arming::Method method);
+
     enum MIS_ITEM_CHECK {
         MIS_ITEM_CHECK_LAND          = (1 << 0),
         MIS_ITEM_CHECK_VTOL_LAND     = (1 << 1),