Plane: Baro does its own dataflash logging

ArduPlane/ArduPlane.cpp

@@ -861,9 +861,6 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
 void Plane::update_alt()
 {
     barometer.update();
-    if (should_log(MASK_LOG_IMU)) {
-        Log_Write_Baro();
-    }
 
     // calculate the sink rate.
     float sink_rate;

ArduPlane/Log.cpp

@@ -294,13 +294,6 @@ void Plane::Log_Write_RC(void)
     Log_Write_AETR();
 }
 
-void Plane::Log_Write_Baro(void)
-{
-    if (!ahrs.have_ekf_logging()) {
-        DataFlash.Log_Write_Baro();
-    }
-}
-
 // Write a AIRSPEED packet
 void Plane::Log_Write_Airspeed(void)
 {
@@ -406,7 +399,6 @@ void Plane::Log_Arm_Disarm() {}
 void Plane::Log_Write_GPS(uint8_t instance) {}
 void Plane::Log_Write_IMU() {}
 void Plane::Log_Write_RC(void) {}
-void Plane::Log_Write_Baro(void) {}
 void Plane::Log_Write_Airspeed(void) {}
 void Plane::Log_Write_Home_And_Origin() {}
 

ArduPlane/Plane.h

@@ -815,7 +815,6 @@ private:
     void Log_Write_GPS(uint8_t instance);
     void Log_Write_IMU();
     void Log_Write_RC(void);
-    void Log_Write_Baro(void);
     void Log_Write_Airspeed(void);
     void Log_Write_Home_And_Origin();
     void Log_Write_Vehicle_Startup_Messages();

ArduPlane/system.cpp

@@ -587,6 +587,7 @@ void Plane::startup_INS_ground(void)
 
     // read Baro pressure at ground
     //-----------------------------
+    barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();
 
     if (airspeed.enabled()) {