ArduCopter: log watchdog event to dataflash

ArduCopter/defines.h

@@ -435,8 +435,9 @@ enum gcs_severity {
 // subsystem specific error codes -- radio
 #define ERROR_CODE_RADIO_LATE_FRAME         2
 // subsystem specific error codes -- failsafe
-#define ERROR_CODE_RADIO_FAILSAFE_THROTTLE  2
-#define ERROR_CODE_RADIO_FAILSAFE_BATTERY   3
+#define ERROR_CODE_FAILSAFE_THROTTLE  2
+#define ERROR_CODE_FAILSAFE_BATTERY   3
+#define ERROR_CODE_FAILSAFE_WATCHDOG  4
 
 
 

ArduCopter/events.pde

@@ -48,7 +48,7 @@ static void failsafe_on_event()
     }
 
     // log the error to the dataflash
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_THROTTLE);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_THROTTLE);
 
 }
 
@@ -95,7 +95,7 @@ static void low_battery_event(void)
 
     // warn the ground station and log to dataflash
     gcs_send_text_P(SEVERITY_LOW,PSTR("Low Battery!"));
-    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_RADIO_FAILSAFE_BATTERY);
+    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_BATTERY);
 
 #if COPTER_LEDS == ENABLED
     if ( bitRead(g.copter_leds_mode, 3) ) {         // Only Activate if a battery is connected to avoid alarm on USB only

ArduCopter/failsafe.pde

@@ -48,13 +48,14 @@ void failsafe_check(uint32_t tnow)
         in_failsafe = true;
     }
 
-    if (in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
+    if (failsafe_enabled && in_failsafe && tnow - failsafe_last_timestamp > 1000000) {
         // disarm motors every second
         failsafe_last_timestamp = tnow;
         if(motors.armed()) {
             motors.armed(false);
         	set_armed(true);
             motors.output();
+            Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE, ERROR_CODE_FAILSAFE_WATCHDOG);
         }
     }
 }