Copter: Log Emergency Stop and Motor Interlock status

ArduCopter/AP_State.pde

@@ -151,4 +151,11 @@ void set_motor_emergency_stop(bool b)
     if(ap.motor_emergency_stop != b) {
         ap.motor_emergency_stop = b;
     }
+
+    // Log new status
+    if (ap.motor_emergency_stop){
+        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOPPED);
+    } else {
+        Log_Write_Event(DATA_MOTORS_EMERGENCY_STOP_CLEARED);
+    }
 }

ArduCopter/defines.h

@@ -261,51 +261,55 @@ enum FlipState {
 #define MASK_LOG_ANY                    0xFFFF
 
 // DATA - event logging
-#define DATA_MAVLINK_FLOAT              1
-#define DATA_MAVLINK_INT32              2
-#define DATA_MAVLINK_INT16              3
-#define DATA_MAVLINK_INT8               4
-#define DATA_AP_STATE                   7
-#define DATA_SYSTEM_TIME_SET            8
-#define DATA_INIT_SIMPLE_BEARING        9
-#define DATA_ARMED                      10
-#define DATA_DISARMED                   11
-#define DATA_AUTO_ARMED                 15
-#define DATA_TAKEOFF                    16
-#define DATA_LAND_COMPLETE_MAYBE        17
-#define DATA_LAND_COMPLETE              18
-#define DATA_NOT_LANDED                 28
-#define DATA_LOST_GPS                   19
-#define DATA_FLIP_START                 21
-#define DATA_FLIP_END                   22
-#define DATA_SET_HOME                   25
-#define DATA_SET_SIMPLE_ON              26
-#define DATA_SET_SIMPLE_OFF             27
-#define DATA_SET_SUPERSIMPLE_ON         29
-#define DATA_AUTOTUNE_INITIALISED       30
-#define DATA_AUTOTUNE_OFF               31
-#define DATA_AUTOTUNE_RESTART           32
-#define DATA_AUTOTUNE_SUCCESS           33
-#define DATA_AUTOTUNE_FAILED            34
-#define DATA_AUTOTUNE_REACHED_LIMIT     35
-#define DATA_AUTOTUNE_PILOT_TESTING     36
-#define DATA_AUTOTUNE_SAVEDGAINS        37
-#define DATA_SAVE_TRIM                  38
-#define DATA_SAVEWP_ADD_WP              39
-#define DATA_SAVEWP_CLEAR_MISSION_RTL   40
-#define DATA_FENCE_ENABLE               41
-#define DATA_FENCE_DISABLE              42
-#define DATA_ACRO_TRAINER_DISABLED      43
-#define DATA_ACRO_TRAINER_LEVELING      44
-#define DATA_ACRO_TRAINER_LIMITED       45
-#define DATA_EPM_GRAB                   46
-#define DATA_EPM_RELEASE                47
-#define DATA_EPM_NEUTRAL                48  // deprecated
-#define DATA_PARACHUTE_DISABLED         49
-#define DATA_PARACHUTE_ENABLED          50
-#define DATA_PARACHUTE_RELEASED         51
-#define DATA_LANDING_GEAR_DEPLOYED      52
-#define DATA_LANDING_GEAR_RETRACTED     53
+#define DATA_MAVLINK_FLOAT                  1
+#define DATA_MAVLINK_INT32                  2
+#define DATA_MAVLINK_INT16                  3
+#define DATA_MAVLINK_INT8                   4
+#define DATA_AP_STATE                       7
+#define DATA_SYSTEM_TIME_SET                8
+#define DATA_INIT_SIMPLE_BEARING            9
+#define DATA_ARMED                          10
+#define DATA_DISARMED                       11
+#define DATA_AUTO_ARMED                     15
+#define DATA_TAKEOFF                        16
+#define DATA_LAND_COMPLETE_MAYBE            17
+#define DATA_LAND_COMPLETE                  18
+#define DATA_NOT_LANDED                     28
+#define DATA_LOST_GPS                       19
+#define DATA_FLIP_START                     21
+#define DATA_FLIP_END                       22
+#define DATA_SET_HOME                       25
+#define DATA_SET_SIMPLE_ON                  26
+#define DATA_SET_SIMPLE_OFF                 27
+#define DATA_SET_SUPERSIMPLE_ON             29
+#define DATA_AUTOTUNE_INITIALISED           30
+#define DATA_AUTOTUNE_OFF                   31
+#define DATA_AUTOTUNE_RESTART               32
+#define DATA_AUTOTUNE_SUCCESS               33
+#define DATA_AUTOTUNE_FAILED                34
+#define DATA_AUTOTUNE_REACHED_LIMIT         35
+#define DATA_AUTOTUNE_PILOT_TESTING         36
+#define DATA_AUTOTUNE_SAVEDGAINS            37
+#define DATA_SAVE_TRIM                      38
+#define DATA_SAVEWP_ADD_WP                  39
+#define DATA_SAVEWP_CLEAR_MISSION_RTL       40
+#define DATA_FENCE_ENABLE                   41
+#define DATA_FENCE_DISABLE                  42
+#define DATA_ACRO_TRAINER_DISABLED          43
+#define DATA_ACRO_TRAINER_LEVELING          44
+#define DATA_ACRO_TRAINER_LIMITED           45
+#define DATA_EPM_GRAB                       46
+#define DATA_EPM_RELEASE                    47
+#define DATA_EPM_NEUTRAL                    48  // deprecated
+#define DATA_PARACHUTE_DISABLED             49
+#define DATA_PARACHUTE_ENABLED              50
+#define DATA_PARACHUTE_RELEASED             51
+#define DATA_LANDING_GEAR_DEPLOYED          52
+#define DATA_LANDING_GEAR_RETRACTED         53
+#define DATA_MOTORS_EMERGENCY_STOPPED       54
+#define DATA_MOTORS_EMERGENCY_STOP_CLEARED  55
+#define DATA_MOTORS_INTERLOCK_DISABLED      56
+#define DATA_MOTORS_INTERLOCK_ENABLED       57
 
 // Centi-degrees to radians
 #define DEGX100 5729.57795f

ArduCopter/switches.pde

@@ -564,6 +564,13 @@ static void do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
             // Turn on when above LOW, because channel will also be used for speed
             // control signal in tradheli
             motors.set_interlock(ch_flag == AUX_SWITCH_HIGH || ch_flag == AUX_SWITCH_MIDDLE);
+
+            // Log new status
+            if (motors.get_interlock()){
+                Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);
+            } else {
+                Log_Write_Event(DATA_MOTORS_INTERLOCK_DISABLED);
+            }
             break;
                 
     }