Tracker: Baro does its own dataflash logging

AntennaTracker/AntennaTracker.cpp

@@ -38,7 +38,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(update_GPS,             10,   4000),
     SCHED_TASK(update_compass,         10,   1500),
     SCHED_TASK_CLASS(AP_BattMonitor,    &tracker.battery,   read,           10, 1500),
-    SCHED_TASK(update_barometer,       10,   1500),
+    SCHED_TASK_CLASS(AP_Baro,          &tracker.barometer,  update,         10,   1500),
     SCHED_TASK(gcs_update,             50,   1700),
     SCHED_TASK(gcs_data_stream_send,   50,   3000),
     SCHED_TASK(compass_accumulate,     50,   1500),

AntennaTracker/Log.cpp

@@ -19,11 +19,6 @@ void Tracker::Log_Write_Attitude()
     DataFlash.Log_Write_POS(ahrs);
 }
 
-void Tracker::Log_Write_Baro(void)
-{
-    DataFlash.Log_Write_Baro();
-}
-
 struct PACKED log_Vehicle_Baro {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -95,7 +90,6 @@ void Tracker::log_init(void)
 #else // LOGGING_ENABLED
 
 void Tracker::Log_Write_Attitude(void) {}
-void Tracker::Log_Write_Baro(void) {}
 
 void Tracker::log_init(void) {}
 void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}

AntennaTracker/Tracker.h

@@ -220,7 +220,6 @@ private:
     void update_scan(void);
     bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
     void read_radio();
-    void update_barometer(void);
     void update_ahrs();
     void update_compass(void);
     void compass_accumulate(void);
@@ -256,7 +255,6 @@ private:
     void init_capabilities(void);
     void compass_cal_update();
     void Log_Write_Attitude();
-    void Log_Write_Baro(void);
     void Log_Write_Vehicle_Pos(int32_t lat,int32_t lng,int32_t alt, const Vector3f& vel);
     void Log_Write_Vehicle_Baro(float pressure, float altitude);
     void Log_Write_Vehicle_Startup_Messages();

AntennaTracker/sensors.cpp

@@ -1,15 +1,5 @@
 #include "Tracker.h"
 
-// read the barometer and return the updated altitude in meters
-void Tracker::update_barometer(void)
-{
-    barometer.update();
-    if (should_log(MASK_LOG_IMU)) {
-        Log_Write_Baro();
-    }
-}
-
-
 /*
   update INS and attitude
  */

AntennaTracker/system.cpp

@@ -46,6 +46,7 @@ void Tracker::init_tracker()
     AP_Notify::flags.failsafe_battery = false;
 
     // init baro before we start the GCS, so that the CLI baro test works
+    barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.init();
 
     // we start by assuming USB connected, as we initialed the serial