From 9301e9cc50c0c4f5a29faf652d583c798178d1f6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 15 Nov 2016 15:41:31 +0100
Subject: [PATCH] logger params: add SDLOG_MODE to select when to start & stop
 logging

---
 ROMFS/px4fmu_common/init.d/rcS | 28 ++++++++++++++++------------
 src/modules/logger/params.c    | 19 +++++++++++++++++++
 2 files changed, 35 insertions(+), 12 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index ed8c2c8604..6779cb0420 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -658,30 +658,34 @@ then
 		then
 		fi
 	else
-		# check if we should increase logging rate for ekf2 replay message logging
-		if param greater EKF2_REC_RPL 0
+		if param compare SYS_LOGGER 0
 		then
-			if param compare SYS_LOGGER 0
+			# check if we should increase logging rate for ekf2 replay message logging
+			if param greater EKF2_REC_RPL 0
 			then
 				if sdlog2 start -r 500 -e -b 18 -t
 				then
 				fi
 			else
-				if logger start -r 500
+				if sdlog2 start -r 100 -a -b 9 -t
 				then
 				fi
 			fi
 		else
-			if param compare SYS_LOGGER 0
+			set LOGGER_ARGS ""
+			if param compare SDLOG_MODE 1
 			then
-				if sdlog2 start -r 100 -a -b 9 -t
-				then
-				fi
-			else
-				if logger start -b 12 -t
-				then
-				fi
+				set LOGGER_ARGS "-e"
 			fi
+			if param compare SDLOG_MODE 2
+			then
+				set LOGGER_ARGS "-f"
+			fi
+
+			if logger start -b 12 -t $LOGGER_ARGS
+			then
+			fi
+			unset LOGGER_ARGS
 		fi
 	fi
 
diff --git a/src/modules/logger/params.c b/src/modules/logger/params.c
index 3ffc1eb6ca..7681365e4b 100644
--- a/src/modules/logger/params.c
+++ b/src/modules/logger/params.c
@@ -48,3 +48,22 @@
  * @group SD Logging
  */
 PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
+
+/**
+ * Logging Mode
+ *
+ * Determines when to start and stop logging. By default, logging is started
+ * when arming the system, and stopped when disarming.
+ *
+ * This parameter is only for the new logger (SYS_LOGGER=1).
+ *
+ * @value 0 when armed until disarm (default)
+ * @value 1 from boot until disarm
+ * @value 2 from boot until shutdown
+ *
+ * @min 0
+ * @max 2
+ * @reboot_required true
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_MODE, 0);