From abfcf89f5e6061cecec6bdef8c57e54931b42920 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 30 Apr 2016 09:34:38 +1000
Subject: [PATCH] Plane: reduced the rate of EKF and attitude logging to 25Hz

this will reduce the log file size while not appreciably reducing the
ability to analyse logs
---
 ArduPlane/ArduPlane.cpp | 5 +----
 ArduPlane/Log.cpp       | 3 +++
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index e0e428ab68..4be062d862 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -74,6 +74,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(update_trigger,         50,    100),
     SCHED_TASK(log_perf_info,         0.2,    100),
     SCHED_TASK(compass_save,        0.016,    200),
+    SCHED_TASK(Log_Write_Attitude,     25,    300),
     SCHED_TASK(update_logging1,        10,    300),
     SCHED_TASK(update_logging2,        10,    300),
     SCHED_TASK(parachute_check,        10,    200),
@@ -158,10 +159,6 @@ void Plane::ahrs_update()
 
     ahrs.update();
 
-    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
-        Log_Write_Attitude();
-    }
-
     if (should_log(MASK_LOG_IMU)) {
         Log_Write_IMU();
         DataFlash.Log_Write_IMUDT(ins);
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 8b3a99b422..7ae8f1e713 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -158,6 +158,9 @@ void Plane::do_erase_logs(void)
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
 {
+    if (!should_log(MASK_LOG_ATTITUDE_FAST)) {
+        return;
+    }
     Vector3f targets;       // Package up the targets into a vector for commonality with Copter usage of Log_Wrote_Attitude
     targets.x = nav_roll_cd;
     targets.y = nav_pitch_cd;