Copter: simplify should_log (NFC)

ArduCopter/system.cpp

@@ -491,14 +491,22 @@ void Copter::check_usb_mux(void)
 bool Copter::should_log(uint32_t mask)
 {
 #if LOGGING_ENABLED == ENABLED
-    if (!(mask & g.log_bitmask) || in_mavlink_delay) {
+    if (in_mavlink_delay) {
         return false;
     }
-    bool ret = motors->armed() || DataFlash.log_while_disarmed();
-    if (ret && !DataFlash.logging_started() && !in_log_download) {
+    if (!(mask & g.log_bitmask)) {
+        return false;
+    }
+    if (!motors->armed() && !DataFlash.log_while_disarmed()) {
+        return false;
+    }
+    if (in_log_download) {
+        return false;
+    }
+    if (!DataFlash.logging_started()) {
         start_logging();
     }
-    return ret;
+    return true;
 #else
     return false;
 #endif