From a4d10b2e86b6cc6a4f5e08c05494624d207407ea Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Fri, 6 Sep 2019 17:13:58 -0700
Subject: [PATCH] AP_NavEKF2: Allow the GPS to be responsible for logging

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp              | 4 ----
 libraries/AP_NavEKF2/AP_NavEKF2.h                | 1 -
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 2 --
 3 files changed, 7 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index c8f0af08c2..dffff235c4 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -596,10 +596,6 @@ void NavEKF2::check_log_write(void)
         AP::logger().Write_Compass(imuSampleTime_us);
         logging.log_compass = false;
     }
-    if (logging.log_gps) {
-        AP::logger().Write_GPS(AP::gps().primary_sensor(), imuSampleTime_us);
-        logging.log_gps = false;
-    }
     if (logging.log_baro) {
         AP::logger().Write_Baro(imuSampleTime_us);
         logging.log_baro = false;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 8feaddafba..e5b4dee6ca 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -457,7 +457,6 @@ private:
     struct {
         bool enabled:1;
         bool log_compass:1;
-        bool log_gps:1;
         bool log_baro:1;
         bool log_imu:1;
     } logging;
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 76cbaf1441..fe05ad0ce5 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -600,8 +600,6 @@ void NavEKF2_core::readGpsData()
                 gpsNotAvailable = false;
             }
 
-            frontend->logging.log_gps = true;
-
         } else {
             // report GPS fix status
             gpsCheckStatus.bad_fix = true;