Copter: log RATE with ATT

ArduCopter/ArduCopter.pde

@@ -1038,8 +1038,6 @@ static void ten_hz_logging_loop()
 {
     if (should_log(MASK_LOG_ATTITUDE_MED)) {
         Log_Write_Attitude();
-    }
-    if (should_log(MASK_LOG_RATE)) {
         Log_Write_Rate();
     }
     if (should_log(MASK_LOG_MOT)) {
@@ -1068,6 +1066,7 @@ static void fifty_hz_logging_loop()
 #if HIL_MODE == HIL_MODE_DISABLED
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
+        Log_Write_Rate();
     }
 
     if (should_log(MASK_LOG_IMU)) {

ArduCopter/Log.pde

@@ -364,20 +364,6 @@ static void Log_Write_Cmd(const AP_Mission::Mission_Command &cmd)
     DataFlash.Log_Write_MavCmd(mission.num_commands(),mav_cmd);
 }
 
-struct PACKED log_Rate {
-    LOG_PACKET_HEADER;
-    uint32_t time_ms;
-    float   control_roll;
-    float   roll;
-    float   roll_out;
-    float   control_pitch;
-    float   pitch;
-    float   pitch_out;
-    float   control_yaw;
-    float   yaw;
-    float   yaw_out;
-};
-
 struct PACKED log_Mot {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -406,6 +392,20 @@ static void Log_Write_Attitude()
 #endif
 }
 
+struct PACKED log_Rate {
+    LOG_PACKET_HEADER;
+    uint32_t time_ms;
+    float   control_roll;
+    float   roll;
+    float   roll_out;
+    float   control_pitch;
+    float   pitch;
+    float   pitch_out;
+    float   control_yaw;
+    float   yaw;
+    float   yaw_out;
+};
+
 // Write an rate packet
 static void Log_Write_Rate()
 {

ArduCopter/config.h

@@ -686,7 +686,6 @@
     MASK_LOG_OPTFLOW | \
     MASK_LOG_COMPASS | \
     MASK_LOG_CAMERA | \
-    MASK_LOG_RATE | \
     MASK_LOG_MOT
 #endif
 

ArduCopter/defines.h

@@ -259,8 +259,7 @@ enum FlipState {
 #define MASK_LOG_INAV                   (1<<14) // deprecated
 #define MASK_LOG_CAMERA                 (1<<15)
 #define MASK_LOG_WHEN_DISARMED          (1UL<<16)
-#define MASK_LOG_RATE                   (1UL<<17)
-#define MASK_LOG_MOT                    (1UL<<18)
+#define MASK_LOG_MOT                    (1UL<<17)
 #define MASK_LOG_ANY                    0xFFFF
 
 // DATA - event logging