Copter: add dataflash as a bit for the mavlink SYS_STATUS message

ArduCopter/GCS_Mavlink.cpp

@@ -156,11 +156,15 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
     if (ap.rc_receiver_present) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_RC_RECEIVER;
     }
+    if (copter.DataFlash.logging_present()) { // primary logging only (usually File)
+        control_sensors_present |= MAV_SYS_STATUS_LOGGING;
+    }
 
     // all present sensors enabled by default except altitude and position control and motors which we will set individually
     control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL &
                                                          ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
-                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS);
+                                                         ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
+                                                         ~MAV_SYS_STATUS_LOGGING);
 
     switch (control_mode) {
     case ALT_HOLD:
@@ -187,6 +191,11 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
     }
 
+    if (copter.DataFlash.logging_enabled()) {
+        control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
+    }
+
+
     // default to all healthy except baro, compass, gps and receiver which we set individually
     control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
                                                          MAV_SYS_STATUS_SENSOR_3D_MAG |
@@ -226,6 +235,10 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
         control_sensors_health &= ~MAV_SYS_STATUS_AHRS;
     }
 
+    if (copter.DataFlash.logging_failed()) {
+        control_sensors_health &= ~MAV_SYS_STATUS_LOGGING;
+    }
+
     int16_t battery_current = -1;
     int8_t battery_remaining = -1;