Arducopter: Change mode logging to use common-vehicle DataFlash library.

ArduCopter/Log.pde

@@ -397,23 +397,6 @@ static void Log_Write_Attitude()
 #endif
 }
 
-struct PACKED log_Mode {
-    LOG_PACKET_HEADER;
-    uint8_t mode;
-    int16_t throttle_cruise;
-};
-
-// Write a mode packet
-static void Log_Write_Mode(uint8_t mode)
-{
-    struct log_Mode pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
-        mode            : mode,
-        throttle_cruise : g.throttle_cruise,
-    };
-    DataFlash.WriteBlock(&pkt, sizeof(pkt));
-}
-
 struct PACKED log_Startup {
     LOG_PACKET_HEADER;
 };
@@ -577,8 +560,6 @@ static const struct LogStructure log_structure[] PROGMEM = {
       "CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
       "PM",  "HHIhBHB",    "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
-    { LOG_MODE_MSG, sizeof(log_Mode),
-      "MODE", "Mh",          "Mode,ThrCrs" },
     { LOG_STARTUP_MSG, sizeof(log_Startup),         
       "STRT", "",            "" },
     { LOG_EVENT_MSG, sizeof(log_Event),         
@@ -637,7 +618,7 @@ static void start_logging()
             DataFlash.Log_Write_Message_P(PSTR("Frame: " FRAME_CONFIG_STRING));
 
             // log the flight mode
-            Log_Write_Mode(control_mode);
+            DataFlash.Log_Write_Mode(control_mode);
         }
         // enable writes
         DataFlash.EnableWrites(true);

ArduCopter/defines.h

@@ -218,7 +218,6 @@ enum FlipState {
 //  Logging parameters
 #define TYPE_AIRSTART_MSG               0x00
 #define TYPE_GROUNDSTART_MSG            0x01
-#define LOG_MODE_MSG                    0x03
 #define LOG_CONTROL_TUNING_MSG          0x04
 #define LOG_NAV_TUNING_MSG              0x05
 #define LOG_PERFORMANCE_MSG             0x06

ArduCopter/flight_mode.pde

@@ -99,7 +99,7 @@ static bool set_mode(uint8_t mode)
         // perform any cleanup required by previous flight mode
         exit_mode(control_mode, mode);
         control_mode = mode;
-        Log_Write_Mode(control_mode);
+        DataFlash.Log_Write_Mode(control_mode);
 
 #if AC_FENCE == ENABLED
         // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover

ArduCopter/motors.pde

@@ -189,7 +189,7 @@ static bool init_arm_motors()
     Log_Write_Event(DATA_ARMED);
 
     // log flight mode in case it was changed while vehicle was disarmed
-    Log_Write_Mode(control_mode);
+    DataFlash.Log_Write_Mode(control_mode);
 
     // reenable failsafe
     failsafe_enable();