Plane: fixed attitude logging with fast logging off

ArduPlane/ArduPlane.cpp

@@ -74,7 +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,          0.1,    200),
-    SCHED_TASK(Log_Write_Attitude,     25,    300),
+    SCHED_TASK(Log_Write_Fast,         25,    300),
     SCHED_TASK(update_logging1,        10,    300),
     SCHED_TASK(update_logging2,        10,    300),
     SCHED_TASK(parachute_check,        10,    200),

ArduPlane/Log.cpp

@@ -159,9 +159,6 @@ 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;
@@ -194,6 +191,14 @@ void Plane::Log_Write_Attitude(void)
     DataFlash.Log_Write_POS(ahrs);
 }
 
+// do logging at loop rate
+void Plane::Log_Write_Fast(void)
+{
+    if (should_log(MASK_LOG_ATTITUDE_FAST)) {
+        Log_Write_Attitude();
+    }
+}
+
 
 struct PACKED log_Performance {
     LOG_PACKET_HEADER;

ArduPlane/Plane.h

@@ -779,6 +779,7 @@ private:
     void gcs_retry_deferred(void);
 
     void do_erase_logs(void);
+    void Log_Write_Fast(void);
     void Log_Write_Attitude(void);
     void Log_Write_Performance();
     void Log_Write_Startup(uint8_t type);