Plane: always log MODE and include reason when logging is enabled

ArduPlane/ArduPlane.cpp

@@ -884,11 +884,8 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
     }
 
     flight_stage = fs;
-
-    if (should_log(MASK_LOG_MODE)) {
     Log_Write_Status();
 }
-}
 
 void Plane::update_alt()
 {

ArduPlane/Log.cpp

@@ -402,7 +402,7 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by DataFlash
     Log_Write_Startup(TYPE_GROUNDSTART_MSG);
-    DataFlash.Log_Write_Mode(control_mode);
+    DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
     DataFlash.Log_Write_Rally(rally);
     Log_Write_Home_And_Origin();
     gps.Write_DataFlash_Log_Startup_messages();

ArduPlane/commands_logic.cpp

@@ -346,8 +346,7 @@ void Plane::do_RTL(int32_t rtl_altitude)
     setup_glide_slope();
     setup_turn_angle();
 
-    if (should_log(MASK_LOG_MODE))
-        DataFlash.Log_Write_Mode(control_mode);
+    DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
 }
 
 void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd)

ArduPlane/defines.h

@@ -140,7 +140,7 @@ enum log_messages {
 #define MASK_LOG_PM                     (1<<3)
 #define MASK_LOG_CTUN                   (1<<4)
 #define MASK_LOG_NTUN                   (1<<5)
-#define MASK_LOG_MODE                   (1<<6)
+//#define MASK_LOG_MODE                 (1<<6) // no longer used
 #define MASK_LOG_IMU                    (1<<7)
 #define MASK_LOG_CMD                    (1<<8)
 #define MASK_LOG_CURRENT                (1<<9)

ArduPlane/is_flying.cpp

@@ -152,9 +152,7 @@ void Plane::update_is_flying_5Hz(void)
 
     crash_detection_update();
 
-    if (should_log(MASK_LOG_MODE)) {
     Log_Write_Status();
-    }
 
     // tell AHRS flying state
     ahrs.set_likely_flying(new_is_flying);

ArduPlane/system.cpp

@@ -446,8 +446,7 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
 
     adsb.set_is_auto_mode(auto_navigation_mode);
 
-    if (should_log(MASK_LOG_MODE))
-        DataFlash.Log_Write_Mode(control_mode);
+    DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
 
     // update notify with flight mode change
     notify_flight_mode(control_mode);