From 89fd543f4d827d798f9ee6ef836485815b47a0ec Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Fri, 16 Jan 2015 15:40:26 -0500
Subject: [PATCH] Rover: Change Mode logging to use DataFlash library method.

---
 APMrover2/Log.pde    | 23 -----------------------
 APMrover2/defines.h  |  1 -
 APMrover2/system.pde |  2 +-
 3 files changed, 1 insertion(+), 25 deletions(-)

diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 1a14d1b2ca..c9bdb9cefa 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -315,26 +315,6 @@ static void Log_Write_Attitude()
 #endif
 }
 
-struct PACKED log_Mode {
-    LOG_PACKET_HEADER;
-    uint32_t time_ms;
-    uint8_t mode;
-    uint8_t mode_num;
-};
-
-// Write a mode packet
-static void Log_Write_Mode()
-{
-    struct log_Mode pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
-        time_ms         : millis(),
-        mode            : (uint8_t)control_mode,
-        mode_num        : (uint8_t)control_mode
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-}
-
-
 struct PACKED log_Sonar {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -480,8 +460,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "NTUN", "IHfHHb",     "TimeMS,Yaw,WpDist,TargBrg,NavBrg,Thr" },
     { LOG_SONAR_MSG, sizeof(log_Sonar),             
       "SONR", "IfHHHbHCb",  "TimeMS,LatAcc,S1Dist,S2Dist,DCnt,TAng,TTim,Spd,Thr" },
-    { LOG_MODE_MSG, sizeof(log_Mode),             
-      "MODE", "IMB",        "TimeMS,Mode,ModeNum" },
     { LOG_COMPASS_MSG, sizeof(log_Compass),             
       "MAG", "Ihhhhhhhhh",  "TimeMS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ" },
     { LOG_COMPASS2_MSG, sizeof(log_Compass),             
@@ -535,7 +513,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
 static void Log_Write_Control_Tuning() {}
 static void Log_Write_Sonar() {}
-static void Log_Write_Mode() {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Compass() {}
 static void start_logging() {}
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index a1d914294c..a4fbfd11ae 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -67,7 +67,6 @@ enum mode {
 #define LOG_PERFORMANCE_MSG		0x03
 #define LOG_STARTUP_MSG 		0x06
 #define LOG_SONAR_MSG 		    0x07
-#define LOG_MODE_MSG            0x09
 #define LOG_COMPASS_MSG         0x0A
 #define LOG_COMPASS2_MSG        0x0C
 #define LOG_STEERING_MSG        0x0D
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 0e845027d0..75864ca929 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -317,7 +317,7 @@ static void set_mode(enum mode mode)
 	}
 
 	if (should_log(MASK_LOG_MODE)) {
-		Log_Write_Mode();
+        DataFlash.Log_Write_Mode(control_mode);
     }
 }