DataFlash: added imu_mask to Log_Write_IMUDT

libraries/DataFlash/DataFlash.cpp

@@ -28,7 +28,7 @@ const AP_Param::GroupInfo DataFlash_Class::var_info[] = {
     // @Param: _REPLAY
     // @DisplayName: Enable logging of information needed for Replay
     // @Description: If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost
-    // @Values:0:Disabled,1:EnabledIMU1,3:EnabledIMU1andIMU2
+    // @Values:0:Disabled,1:Enabled
     // @User: Standard
     AP_GROUPINFO("_REPLAY",  3, DataFlash_Class, _params.log_replay,       0),
     

libraries/DataFlash/DataFlash.h

@@ -108,7 +108,7 @@ public:
     void Log_Write_GPS(const AP_GPS &gps, uint8_t instance, uint64_t time_us=0);
     void Log_Write_RFND(const RangeFinder &rangefinder);
     void Log_Write_IMU(const AP_InertialSensor &ins);
-    void Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t time_us);
+    void Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t time_us, uint8_t imu_mask);
     void Log_Write_Vibration(const AP_InertialSensor &ins);
     void Log_Write_RCIN(void);
     void Log_Write_RCOUT(void);

libraries/DataFlash/LogFile.cpp

@@ -932,7 +932,7 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
 }
 
 // Write an accel/gyro delta time data packet
-void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t time_us)
+void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t time_us, uint8_t imu_mask)
 {
     float delta_t = ins.get_delta_time();
     float delta_vel_t = ins.get_delta_velocity_dt(0);
@@ -954,7 +954,9 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t tim
         delta_vel_y  : delta_velocity.y,
         delta_vel_z  : delta_velocity.z
     };
-    WriteBlock(&pkt, sizeof(pkt));
+    if (imu_mask & 1) {
+        WriteBlock(&pkt, sizeof(pkt));
+    }
     if ((ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) || !ins.use_gyro(1)) {
         return;
     }
@@ -980,7 +982,9 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t tim
         delta_vel_y  : delta_velocity.y,
         delta_vel_z  : delta_velocity.z
     };
-    WriteBlock(&pkt2, sizeof(pkt2));
+    if (imu_mask & 2) {
+        WriteBlock(&pkt2, sizeof(pkt2));
+    }
 
     if ((ins.get_gyro_count() < 3 && ins.get_accel_count() < 3) || !ins.use_gyro(2)) {
         return;
@@ -1006,7 +1010,9 @@ void DataFlash_Class::Log_Write_IMUDT(const AP_InertialSensor &ins, uint64_t tim
         delta_vel_y  : delta_velocity.y,
         delta_vel_z  : delta_velocity.z
     };
-    WriteBlock(&pkt3, sizeof(pkt3));
+    if (imu_mask & 4) {
+        WriteBlock(&pkt3, sizeof(pkt3));
+    }
 }
 
 void DataFlash_Class::Log_Write_Vibration(const AP_InertialSensor &ins)