From 3bbc6353d8f478e9aead58fa3be331e3aa7554f9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 4 May 2016 18:32:02 +1000
Subject: [PATCH] Plane: use have_ekf_logging()

---
 ArduPlane/ArduPlane.cpp | 2 +-
 ArduPlane/Log.cpp       | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index f6cbfe5988..bf9c013f77 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -226,7 +226,7 @@ void Plane::update_compass(void)
     if (g.compass_enabled && compass.read()) {
         ahrs.set_compass(&compass);
         compass.learn_offsets();
-        if (should_log(MASK_LOG_COMPASS)) {
+        if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
             DataFlash.Log_Write_Compass(compass);
         }
     } else {
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 86f8d6ffdf..258ebd5b1e 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -435,7 +435,9 @@ void Plane::Log_Arm_Disarm() {
 
 void Plane::Log_Write_GPS(uint8_t instance)
 {
-    DataFlash.Log_Write_GPS(gps, instance, current_loc.alt - ahrs.get_home().alt);
+    if (!ahrs.have_ekf_logging()) {
+        DataFlash.Log_Write_GPS(gps, instance);
+    }
 }
 
 void Plane::Log_Write_IMU() 
@@ -454,7 +456,9 @@ void Plane::Log_Write_RC(void)
 
 void Plane::Log_Write_Baro(void)
 {
-    DataFlash.Log_Write_Baro(barometer);
+    if (!ahrs.have_ekf_logging()) {
+        DataFlash.Log_Write_Baro(barometer);
+    }
 }
 
 // Write a AIRSPEED packet