Copter: fix startup logging

Removed potentially endless loop caused by start_logging calling
Log_Write_Startup which called should_log which could then call
start_logging.
Moved disarm event logging above motors disarm so it is logged

ArduCopter/Log.cpp

@@ -448,11 +448,6 @@ void Copter::Log_Write_Startup()
         time_us         : hal.scheduler->micros64()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
-
-    // write all commands to the dataflash as well
-    if (should_log(MASK_LOG_CMD)) {
-        DataFlash.Log_Write_EntireMission(mission);
-    }
 }
 
 struct PACKED log_Event {
@@ -755,6 +750,11 @@ void Copter::start_logging()
 
             DataFlash.Log_Write_Message_P(PSTR("Frame: " FRAME_CONFIG_STRING));
 
+            // write mission commands
+            if (MASK_LOG_CMD & g.log_bitmask) {
+                DataFlash.Log_Write_EntireMission(mission);
+            }
+
             Log_Write_Startup();
 
             // log the flight mode

ArduCopter/motors.cpp

@@ -822,9 +822,6 @@ void Copter::init_disarm_motors()
     gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
 #endif
 
-    // send disarm command to motors
-    motors.armed(false);
-
     // save compass offsets learned by the EKF
     Vector3f magOffsets;
     if (ahrs.use_compass() && ahrs.getMagOffsets(magOffsets)) {
@@ -840,12 +837,15 @@ void Copter::init_disarm_motors()
     set_land_complete(true);
     set_land_complete_maybe(true);
 
-    // reset the mission
-    mission.reset();
-
     // log disarm to the dataflash
     Log_Write_Event(DATA_DISARMED);
 
+    // send disarm command to motors
+    motors.armed(false);
+
+    // reset the mission
+    mission.reset();
+
     // suspend logging
     if (!(g.log_bitmask & MASK_LOG_WHEN_DISARMED)) {
         DataFlash.EnableWrites(false);

ArduCopter/system.cpp

@@ -255,10 +255,6 @@ void Copter::init_ardupilot()
 
     startup_ground(true);
 
-#if LOGGING_ENABLED == ENABLED
-    Log_Write_Startup();
-#endif
-
     // we don't want writes to the serial port to cause us to pause
     // mid-flight, so set the serial ports non-blocking once we are
     // ready to fly