Copter: Let modes stop Attitude Logging

ArduCopter/Copter.cpp

@@ -330,7 +330,7 @@ void Copter::update_batt_compass(void)
 // should be run at 400hz
 void Copter::fourhundred_hz_logging()
 {
-    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
+    if (should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->stop_attitude_logging()) {
         Log_Write_Attitude();
     }
 }
@@ -340,8 +340,11 @@ void Copter::fourhundred_hz_logging()
 void Copter::ten_hz_logging_loop()
 {
     // log attitude data if we're not already logging at the higher rate
-    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
+    if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->stop_attitude_logging()) {
         Log_Write_Attitude();
+    }
+    // log EKF attitude data
+    if (should_log(MASK_LOG_ATTITUDE_MED) || should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_EKF_POS();
     }
     if (should_log(MASK_LOG_MOTBATT)) {

ArduCopter/mode.h

@@ -55,6 +55,7 @@ public:
     virtual bool is_autopilot() const { return false; }
     virtual bool has_user_takeoff(bool must_navigate) const { return false; }
     virtual bool in_guided_mode() const { return false; }
+    virtual bool stop_attitude_logging() const { return false; }
 
     // return a string for this flightmode
     virtual const char *name() const = 0;