From 2ed32a3ac0ad3aaf4a6baf20c159fe01249064bc Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 20 Nov 2016 16:11:57 +1100
Subject: [PATCH] Copter: added raw RFND logging

---
 ArduCopter/sensors.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/sensors.cpp b/ArduCopter/sensors.cpp
index 424a74f191..854f599ee1 100644
--- a/ArduCopter/sensors.cpp
+++ b/ArduCopter/sensors.cpp
@@ -39,6 +39,11 @@ void Copter::read_rangefinder(void)
 #if RANGEFINDER_ENABLED == ENABLED
     rangefinder.update();
 
+    if (rangefinder.num_sensors() > 0 &&
+        should_log(MASK_LOG_CTUN)) {
+        DataFlash.Log_Write_RFND(rangefinder);
+    }
+    
     rangefinder_state.alt_healthy = ((rangefinder.status() == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count() >= RANGEFINDER_HEALTH_MAX));
 
     int16_t temp_alt = rangefinder.distance_cm();