Copter: add logging bit to log video stab in fast loop

ArduCopter/Copter.cpp

@@ -287,6 +287,10 @@ void Copter::fast_loop()
     }
 
     AP_Vehicle::fast_loop();
+
+    if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
+        ahrs.write_video_stabilisation();
+    }
 }
 
 #if AP_SCRIPTING_ENABLED

ArduCopter/Parameters.cpp

@@ -322,7 +322,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
     // @Description: 4 byte bitmap of log types to enable
-    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW
+    // @Bitmask: 0:ATTITUDE_FAST,1:ATTITUDE_MED,2:GPS,3:PM,4:CTUN,5:NTUN,6:RCIN,7:IMU,8:CMD,9:CURRENT,10:RCOUT,11:OPTFLOW,12:PID,13:COMPASS,14:INAV,15:CAMERA,17:MOTBATT,18:IMU_FAST,19:IMU_RAW,20:VideoStabilization
     // @User: Standard
     GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),
 

ArduCopter/defines.h

@@ -143,6 +143,7 @@ enum LoggingParameters {
 #define MASK_LOG_MOTBATT                (1UL<<17)
 #define MASK_LOG_IMU_FAST               (1UL<<18)
 #define MASK_LOG_IMU_RAW                (1UL<<19)
+#define MASK_LOG_VIDEO_STABILISATION    (1UL<<20)
 #define MASK_LOG_ANY                    0xFFFF
 
 // Radio failsafe definitions (FS_THR parameter)