AP_InertialSensor: Post-filter logging takes precedence over sensor-rate logging.

libraries/AP_InertialSensor/BatchSampler.cpp

@@ -87,14 +87,15 @@ void AP_InertialSensor::BatchSampler::periodic()
 
 void AP_InertialSensor::BatchSampler::update_doing_sensor_rate_logging()
 {
-    if (((batch_opt_t)(_batch_options_mask.get()) & BATCH_OPT_POST_FILTER)
+    // We can't do post-filter sensor rate logging
-        && type == IMU_SENSOR_TYPE_GYRO) {
+    if ((batch_opt_t)(_batch_options_mask.get()) & BATCH_OPT_POST_FILTER) {
         _doing_post_filter_logging = true;
+        _doing_sensor_rate_logging = false;
         return;
     }
+    _doing_post_filter_logging = false;
     if (!((batch_opt_t)(_batch_options_mask.get()) & BATCH_OPT_SENSOR_RATE)) {
         _doing_sensor_rate_logging = false;
-        _doing_post_filter_logging = false;
         return;
     }
     const uint8_t bit = (1<<instance);