Plane: integrate dataflash Log_Write_MavCmd

ArduPlane/Log.pde

@@ -227,6 +227,14 @@ static void Log_Write_Performance()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
+// Write a mission command. Total length : 36 bytes
+static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
+{
+    mavlink_mission_item_t mav_cmd = {};
+    AP_Mission::mission_cmd_to_mavlink(cmd,mav_cmd);
+    DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
+}
+
 struct PACKED log_Camera {
     LOG_PACKET_HEADER;
     uint32_t gps_time;
@@ -277,7 +285,7 @@ static void Log_Write_Startup(uint8_t type)
     AP_Mission::Mission_Command cmd;
     for (uint16_t i = 0; i < mission.num_commands(); i++) {
         if (mission.read_cmd_from_storage(i,cmd)) {
-            DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
+            Log_Write_Cmd(cmd);
         }
     }
 }
@@ -598,6 +606,7 @@ static void Log_Write_Current() {}
 static void Log_Write_Nav_Tuning() {}
 static void Log_Write_TECS_Tuning() {}
 static void Log_Write_Performance() {}
+static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd) {}
 static void Log_Write_Attitude() {}
 static void Log_Write_Control_Tuning() {}
 static void Log_Write_Camera() {}

ArduPlane/commands_logic.pde

@@ -25,7 +25,7 @@ start_command(const AP_Mission::Mission_Command& cmd)
 {
     // log when new commands start
     if (g.log_bitmask & MASK_LOG_CMD) {
-        DataFlash.Log_Write_Cmd(mission.num_commands(),cmd);
+        Log_Write_Cmd(cmd);
     }
 
     // special handling for nav vs non-nav commands