From b2ca7ee3fa7fa6ea6718aaaaffee0d438a764750 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 1 Jun 2015 20:14:45 +0900 Subject: [PATCH] Copter: Log_Write_Startup writes parameters --- ArduCopter/Log.cpp | 8 +++++++- ArduCopter/system.cpp | 5 ----- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp index a82fb51b9dd..df95ac8cf20 100644 --- a/ArduCopter/Log.cpp +++ b/ArduCopter/Log.cpp @@ -451,13 +451,19 @@ struct PACKED log_Startup { // Write Startup packet void Copter::Log_Write_Startup() { + // Write all current parameters + DataFlash.Log_Write_Parameters(); + struct log_Startup pkt = { LOG_PACKET_HEADER_INIT(LOG_STARTUP_MSG), time_us : hal.scheduler->micros64() }; DataFlash.WriteBlock(&pkt, sizeof(pkt)); - Log_Write_EntireMission(); + // write all commands to the dataflash as well + if (should_log(MASK_LOG_CMD)) { + Log_Write_EntireMission(); + } } void Copter::Log_Write_EntireMission() diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp index 4097edb0b7e..d0b59ee660e 100644 --- a/ArduCopter/system.cpp +++ b/ArduCopter/system.cpp @@ -253,11 +253,6 @@ void Copter::init_ardupilot() heli_init(); #endif -#if LOGGING_ENABLED == ENABLED - // Write all current parameters - DataFlash.Log_Write_Parameters(); -#endif - startup_ground(true); #if LOGGING_ENABLED == ENABLED