Copter: added a bit in LOG_BITMASK for PID logging

ArduCopter/ArduCopter.pde

@@ -972,10 +972,12 @@ static void ten_hz_logging_loop()
     if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
         Log_Write_Rate();
-        DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
+        if (should_log(MASK_LOG_PID)) {
+            DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
+        }
     }
     if (should_log(MASK_LOG_MOTBATT)) {
         Log_Write_MotBatt();
@@ -1004,10 +1006,12 @@ static void fifty_hz_logging_loop()
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
         Log_Write_Rate();
-        DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
-        DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
+        if (should_log(MASK_LOG_PID)) {
+            DataFlash.Log_Write_PID(LOG_PIDR_MSG, g.pid_rate_roll.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDP_MSG, g.pid_rate_pitch.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDY_MSG, g.pid_rate_yaw.get_pid_info() );
+            DataFlash.Log_Write_PID(LOG_PIDA_MSG, g.pid_accel_z.get_pid_info() );
+        }
     }
 
     // log IMU data if we're not already logging at the higher rate

ArduCopter/Log.pde

@@ -49,6 +49,7 @@ print_log_menu(void)
         if (g.log_bitmask & MASK_LOG_OPTFLOW) cliSerial->printf_P(PSTR(" OPTFLOW"));
         if (g.log_bitmask & MASK_LOG_COMPASS) cliSerial->printf_P(PSTR(" COMPASS"));
         if (g.log_bitmask & MASK_LOG_CAMERA) cliSerial->printf_P(PSTR(" CAMERA"));
+        if (g.log_bitmask & MASK_LOG_PID) cliSerial->printf_P(PSTR(" PID"));
     }
 
     cliSerial->println();
@@ -134,6 +135,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
         TARG(OPTFLOW);
         TARG(COMPASS);
         TARG(CAMERA);
+        TARG(PID);
  #undef TARG
     }
 

ArduCopter/Parameters.h

@@ -415,7 +415,7 @@ public:
 
     AP_Int8         land_repositioning;
     AP_Float        ekfcheck_thresh;
-    AP_Int8         gcs_pid_mask;
+    AP_Int16        gcs_pid_mask;
 
 #if FRAME_CONFIG ==     HELI_FRAME
     // Heli

ArduCopter/Parameters.pde

@@ -344,7 +344,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Param: LOG_BITMASK
     // @DisplayName: Log bitmask
     // @Description: 4 byte bitmap of log types to enable
-    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131070:All+DisarmedLogging,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,0:Disabled
+    // @Values: 830:Default,894:Default+RCIN,958:Default+IMU,1854:Default+Motors,-6146:NearlyAll-AC315,45054:NearlyAll,131070:All+DisarmedLogging,131071:All+FastATT,262142:All+MotBatt,393214:All+FastIMU,All+FastIMU+PID:397310,0:Disabled
     // @User: Standard
     GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),
 

ArduCopter/defines.h

@@ -252,7 +252,7 @@ enum FlipState {
 #define MASK_LOG_CURRENT                (1<<9)
 #define MASK_LOG_RCOUT                  (1<<10)
 #define MASK_LOG_OPTFLOW                (1<<11)
-#define MASK_LOG_PID                    (1<<12) // deprecated
+#define MASK_LOG_PID                    (1<<12)
 #define MASK_LOG_COMPASS                (1<<13)
 #define MASK_LOG_INAV                   (1<<14) // deprecated
 #define MASK_LOG_CAMERA                 (1<<15)