Sub: Baro does its own dataflash logging

ArduSub/Log.cpp

@@ -274,13 +274,6 @@ void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code)
     DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
-void Sub::Log_Write_Baro(void)
-{
-    if (!ahrs.have_ekf_logging()) {
-        DataFlash.Log_Write_Baro();
-    }
-}
-
 // log EKF origin and ahrs home to dataflash
 void Sub::Log_Write_Home_And_Origin()
 {
@@ -399,7 +392,6 @@ void Sub::Log_Write_Data(uint8_t id, int16_t value) {}
 void Sub::Log_Write_Data(uint8_t id, uint16_t value) {}
 void Sub::Log_Write_Data(uint8_t id, float value) {}
 void Sub::Log_Write_Error(uint8_t sub_system, uint8_t error_code) {}
-void Sub::Log_Write_Baro(void) {}
 void Sub::Log_Write_Home_And_Origin() {}
 void Sub::Log_Sensor_Health() {}
 void Sub::Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target) {}

ArduSub/Sub.h

@@ -507,7 +507,6 @@ private:
     void Log_Write_Data(uint8_t id, uint16_t value);
     void Log_Write_Data(uint8_t id, float value);
     void Log_Write_Error(uint8_t sub_system, uint8_t error_code);
-    void Log_Write_Baro(void);
     void Log_Write_Home_And_Origin();
     void Log_Sensor_Health();
     void Log_Write_GuidedTarget(uint8_t target_type, const Vector3f& pos_target, const Vector3f& vel_target);

ArduSub/sensors.cpp

@@ -4,9 +4,6 @@
 void Sub::read_barometer(void)
 {
     barometer.update();
-    if (should_log(MASK_LOG_IMU)) {
-        Log_Write_Baro();
-    }
 
     if (ap.depth_sensor_present) {
         sensor_health.depth = barometer.healthy(depth_sensor_idx);

ArduSub/system.cpp

@@ -144,6 +144,7 @@ void Sub::init_ardupilot()
 #endif
 
     // Init baro and determine if we have external (depth) pressure sensor
+    barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate(false);
     barometer.update();