Copter: support MAVLink log download

ArduCopter/GCS_Mavlink.pde

@@ -573,6 +573,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
     switch(id) {
     case MSG_HEARTBEAT:
         CHECK_PAYLOAD_SIZE(HEARTBEAT);
+        gcs[chan-MAVLINK_COMM_0].last_heartbeat_time = hal.scheduler->millis();
         send_heartbeat(chan);
         break;
 
@@ -692,6 +693,12 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
         send_hwstatus(chan);
         break;
 
+    case MSG_FENCE_STATUS:
+    case MSG_WIND:
+    case MSG_RANGEFINDER:
+        // unused
+        break;
+
     case MSG_RETRY_DEFERRED:
         break; // just here to prevent a warning
     }
@@ -862,14 +869,6 @@ const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
 };
 
 
-GCS_MAVLINK::GCS_MAVLINK() :
-    packet_drops(0),
-    waypoint_send_timeout(1000), // 1 second
-    waypoint_receive_timeout(1000) // 1 second
-{
-    AP_Param::setup_object_defaults(this, var_info);
-}
-
 void
 GCS_MAVLINK::init(AP_HAL::UARTDriver* port)
 {
@@ -997,6 +996,10 @@ GCS_MAVLINK::data_stream_send(void)
         return;
     }
 
+    if (!in_mavlink_delay && !motors.armed()) {
+        handle_log_send(DataFlash);
+    }
+
     gcs_out_of_time = false;
 
     if (_queued_parameter != NULL) {
@@ -2004,6 +2007,12 @@ mission_failed:
         break;
     }
 
+    case MAVLINK_MSG_ID_LOG_REQUEST_LIST ... MAVLINK_MSG_ID_LOG_REQUEST_END:
+        if (!in_mavlink_delay && !motors.armed()) {
+            handle_log_message(msg, DataFlash);
+        }
+        break;    
+
 /* To-Do: add back support for polygon type fence
 #if AC_FENCE == ENABLED
     // receive an AP_Limits fence point from GCS and store in EEPROM