From 870ec8a9bb0ac98786939407595118f30f265744 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 30 Dec 2013 10:24:01 +1100
Subject: [PATCH] Rover: added RC in/out logging

---
 APMrover2/APMrover2.pde | 14 ++++++++++++--
 APMrover2/Log.pde       |  7 +++++++
 APMrover2/config.h      |  5 +++++
 APMrover2/defines.h     |  1 +
 4 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index ecc75b1d5c..ace108d66b 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -559,7 +559,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
     { navigate,               5,   1600 },
     { update_compass,         5,   2000 },
     { update_commands,        5,   1000 },
-    { update_logging,         5,   1000 },
+    { update_logging1,        5,   1000 },
+    { update_logging2,        5,   1000 },
     { gcs_retry_deferred,     1,   1000 },
     { gcs_update,             1,   1700 },
     { gcs_data_stream_send,   1,   3000 },
@@ -706,7 +707,7 @@ static void update_compass(void)
 /*
   log some key data - 10Hz
  */
-static void update_logging(void)
+static void update_logging1(void)
 {
     if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
         Log_Write_Attitude();
@@ -716,12 +717,21 @@ static void update_logging(void)
 
     if (g.log_bitmask & MASK_LOG_NTUN)
         Log_Write_Nav_Tuning();
+}
 
+/*
+  log some key data - 10Hz
+ */
+static void update_logging2(void)
+{
     if (g.log_bitmask & MASK_LOG_STEERING) {
         if (control_mode == STEERING || control_mode == AUTO || control_mode == RTL || control_mode == GUIDED) {
             Log_Write_Steering();
         }
     }
+
+    if (g.log_bitmask & MASK_LOG_RC)
+        Log_Write_RC();
 }
 
 
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 8848c8559f..a1df4e51ea 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -514,6 +514,12 @@ static void Log_Write_Compass()
 }
 
 
+static void Log_Write_RC(void)
+{
+    DataFlash.Log_Write_RCIN();
+    DataFlash.Log_Write_RCOUT();
+}
+
 static const struct LogStructure log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
     { LOG_ATTITUDE_MSG, sizeof(log_Attitude),       
@@ -587,6 +593,7 @@ static void Log_Write_Mode() {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Compass() {}
 static void start_logging() {}
+static void Log_Write_RC(void) {}
 
 #endif // LOGGING_ENABLED
 
diff --git a/APMrover2/config.h b/APMrover2/config.h
index e62786d3bf..721ac63537 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -319,6 +319,7 @@
 # define LOGGING_ENABLED		ENABLED
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
 #define DEFAULT_LOG_BITMASK     \
     MASK_LOG_ATTITUDE_MED | \
     MASK_LOG_GPS | \
@@ -332,6 +333,10 @@
     MASK_LOG_CURRENT | \
     MASK_LOG_STEERING | \
     MASK_LOG_CAMERA
+#else
+// other systems have plenty of space for full logs
+#define DEFAULT_LOG_BITMASK   0xffff
+#endif
 
 
 
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index 6ad1792523..9d34089630 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -115,6 +115,7 @@ enum mode {
 #define MASK_LOG_COMPASS   		(1<<11)
 #define MASK_LOG_CAMERA   		(1<<12)
 #define MASK_LOG_STEERING  		(1<<13)
+#define MASK_LOG_RC     		(1<<14)
 
 // Waypoint Modes
 // ----------------