ArduCopter: use new logging method for remaining packet types

Additional changes include renaming RAW dataflash type to IMU

ArduCopter/ArduCopter.pde

@@ -1240,8 +1240,8 @@ static void fifty_hz_loop()
 #endif
     }
 
-    if (g.log_bitmask & MASK_LOG_RAW && motors.armed())
-        Log_Write_Raw();
+    if (g.log_bitmask & MASK_LOG_IMU && motors.armed())
+        Log_Write_IMU();
 #endif
 
 }
@@ -1335,7 +1335,9 @@ static void slow_loop()
 // 1Hz loop
 static void super_slow_loop()
 {
+    if (g.log_bitmask != 0) {
         Log_Write_Data(DATA_AP_STATE, ap.value);
+    }
 
     if (g.log_bitmask & MASK_LOG_CUR && motors.armed())
         Log_Write_Current();

ArduCopter/config.h

@@ -1065,8 +1065,8 @@
 #ifndef LOG_MODE
  # define LOG_MODE                      ENABLED
 #endif
-#ifndef LOG_RAW
- # define LOG_RAW                       DISABLED
+#ifndef LOG_IMU
+ # define LOG_IMU                       DISABLED
 #endif
 #ifndef LOG_CMD
  # define LOG_CMD                       ENABLED
@@ -1107,7 +1107,7 @@
     LOGBIT(CTUN)            | \
     LOGBIT(NTUN)            | \
     LOGBIT(MODE)            | \
-    LOGBIT(RAW)                             | \
+    LOGBIT(IMU)             | \
     LOGBIT(CMD)             | \
     LOGBIT(CUR)             | \
     LOGBIT(MOTORS)          | \

ArduCopter/defines.h

@@ -277,19 +277,24 @@ enum gcs_severity {
 #define LOG_CONTROL_TUNING_MSG          0x04
 #define LOG_NAV_TUNING_MSG              0x05
 #define LOG_PERFORMANCE_MSG             0x06
-#define LOG_RAW_MSG                     0x07
+#define LOG_IMU_MSG                     0x07
 #define LOG_CMD_MSG                     0x08
 #define LOG_CURRENT_MSG                 0x09
 #define LOG_STARTUP_MSG                 0x0A
 #define LOG_MOTORS_MSG                  0x0B
 #define LOG_OPTFLOW_MSG                 0x0C
-#define LOG_DATA_MSG                    0x0D
+#define LOG_EVENT_MSG                   0x0D
 #define LOG_PID_MSG                     0x0E
 #define LOG_ITERM_MSG                   0x0F
 #define LOG_DMP_MSG                     0x10
 #define LOG_INAV_MSG                    0x11
 #define LOG_CAMERA_MSG                  0x12
 #define LOG_ERROR_MSG                   0x13
+#define LOG_DATA_INT16_MSG              0x14
+#define LOG_DATA_UINT16_MSG             0x15
+#define LOG_DATA_INT32_MSG              0x16
+#define LOG_DATA_UINT32_MSG             0x17
+#define LOG_DATA_FLOAT_MSG              0x18
 #define LOG_INDEX_MSG                   0xF0
 #define MAX_NUM_LOGS                    50
 
@@ -300,7 +305,7 @@ enum gcs_severity {
 #define MASK_LOG_CTUN                   (1<<4)
 #define MASK_LOG_NTUN                   (1<<5)
 #define MASK_LOG_MODE                   (1<<6)
-#define MASK_LOG_RAW                    (1<<7)
+#define MASK_LOG_IMU                    (1<<7)
 #define MASK_LOG_CMD                    (1<<8)
 #define MASK_LOG_CUR                    (1<<9)
 #define MASK_LOG_MOTORS                 (1<<10)

ArduCopter/system.pde

@@ -571,7 +571,9 @@ static void
 init_simple_bearing()
 {
     initial_simple_bearing = ahrs.yaw_sensor;
+    if (g.log_bitmask != 0) {
         Log_Write_Data(DATA_INIT_SIMPLE_BEARING, initial_simple_bearing);
+    }
 }
 
 #if CLI_SLIDER_ENABLED == ENABLED && CLI_ENABLED == ENABLED