From 0cbe64bc5e46680f362b07e7ea3a852386f16f42 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 19 Feb 2014 07:38:20 +1100
Subject: [PATCH] Copter: use Log_Write_Baro()

this gives the raw pressure and temperature, which is useful for
analysis, plus allows for more accurate log replay
---
 ArduCopter/Log.pde     | 6 ++++++
 ArduCopter/sensors.pde | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 8395f7fc36..5eca0d7f1c 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -678,6 +678,11 @@ static void Log_Write_Error(uint8_t sub_system, uint8_t error_code)
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
+static void Log_Write_Baro(void)
+{
+    DataFlash.Log_Write_Baro(barometer);
+}
+
 static const struct LogStructure log_structure[] PROGMEM = {
     LOG_COMMON_STRUCTURES,
 #if AUTOTUNE == ENABLED
@@ -799,6 +804,7 @@ static void Log_Write_Control_Tuning() {}
 static void Log_Write_Performance() {}
 static void Log_Write_Camera() {}
 static void Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
+static void Log_Write_Baro(void);
 static int8_t process_logs(uint8_t argc, const Menu::arg *argv) {
     return 0;
 }
diff --git a/ArduCopter/sensors.pde b/ArduCopter/sensors.pde
index 6ce828fac3..4d7d9d0f55 100644
--- a/ArduCopter/sensors.pde
+++ b/ArduCopter/sensors.pde
@@ -26,6 +26,9 @@ static void init_barometer(bool full_calibration)
 static int32_t read_barometer(void)
 {
     barometer.read();
+    if (g.log_bitmask & MASK_LOG_IMU) {
+        Log_Write_Baro();
+    }
     return barometer.get_altitude() * 100.0f;
 }