Copter: move responsibility for logging into library

ArduCopter/ArduCopter.cpp

@@ -310,10 +310,6 @@ void Copter::update_batt_compass(void)
         compass.set_throttle(motors->get_throttle());
         compass.set_voltage(battery.voltage());
         compass.read();
-        // log compass information
-        if (should_log(MASK_LOG_COMPASS) && !ahrs.have_ekf_logging()) {
-            logger.Write_Compass();
-        }
     }
 }
 

ArduCopter/system.cpp

@@ -137,6 +137,7 @@ void Copter::init_ardupilot()
     gps.set_log_gps_bit(MASK_LOG_GPS);
     gps.init(serial_manager);
 
+    AP::compass().set_log_bit(MASK_LOG_COMPASS);
     AP::compass().init();
 
 #if OPTFLOW == ENABLED