From 58f0c346129d42e6eb033b99ed2998343ca84f9f Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Mon, 24 Aug 2020 17:26:49 +0200
Subject: [PATCH] AP_GPS: fix dataflash logging of blended GPS instance

---
 libraries/AP_GPS/AP_GPS.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 21f4a2738b..66354b47fa 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1661,6 +1661,7 @@ void AP_GPS::calc_blended_state(void)
 
     timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0;
     timing[GPS_BLENDED_INSTANCE].last_message_time_ms = 0;
+    bool data_should_be_logged = false;
 
     // combine the states into a blended solution
     for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
@@ -1716,6 +1717,7 @@ void AP_GPS::calc_blended_state(void)
         }
         if (timing[i].last_message_time_ms > timing[GPS_BLENDED_INSTANCE].last_message_time_ms) {
             timing[GPS_BLENDED_INSTANCE].last_message_time_ms = timing[i].last_message_time_ms;
+            data_should_be_logged = true;
         }
 
     }
@@ -1801,6 +1803,13 @@ void AP_GPS::calc_blended_state(void)
     }
     timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1;
     timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
+
+#ifndef HAL_BUILD_AP_PERIPH
+    if (data_should_be_logged &&
+        should_log()) {
+        AP::logger().Write_GPS(GPS_BLENDED_INSTANCE);
+    }
+#endif
 }
 #endif // GPS_BLENDED_INSTANCE