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

@@ -306,6 +306,10 @@ enum FlipState {
 #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;
                 
     }