From 2d6a09546b4dd68d309d4442d033fb41dfce9869 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 27 Oct 2015 17:29:54 -0700
Subject: [PATCH] Revert "Start logging on heartbeat instead of connect"

---
 src/comm/MAVLinkProtocol.cc | 36 +++++++++++++++++++-----------------
 1 file changed, 19 insertions(+), 17 deletions(-)

diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index deadbd219..d221dc26e 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -187,6 +187,13 @@ void MAVLinkProtocol::_linkStatusChanged(LinkInterface* link, bool connected)
         // Use the same shared pointer as LinkManager
         _connectedLinks.append(LinkManager::instance()->sharedPointerForLink(link));
         
+#ifndef __mobile__
+        if (_connectedLinks.count() == 1) {
+            // This is the first link, we need to start logging
+            _startLogging();
+        }
+#endif
+        
         // Send command to start MAVLink
         // XXX hacky but safe
         // Start NSH
@@ -346,11 +353,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 #endif
 
             if (message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
-#ifndef __mobile__
-                // Start logging on first heartbeat
-                _startLogging();
-#endif
-
                 // Notify the vehicle manager of the heartbeat. This will create/update vehicles as needed.
                 mavlink_heartbeat_t heartbeat;
                 mavlink_msg_heartbeat_decode(&message, &heartbeat);
@@ -644,20 +646,20 @@ bool MAVLinkProtocol::_closeLogFile(void)
 
 void MAVLinkProtocol::_startLogging(void)
 {
-    if (!_tempLogFile.isOpen()) {
-        if (!_logSuspendReplay) {
-            if (!_tempLogFile.open()) {
-                emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
-                                                                      "Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
-                _closeLogFile();
-                _logSuspendError = true;
-                return;
-            }
-
-            qDebug() << "Temp log" << _tempLogFile.fileName();
+    Q_ASSERT(!_tempLogFile.isOpen());
 
-            _logSuspendError = false;
+    if (!_logSuspendReplay) {
+        if (!_tempLogFile.open()) {
+            emit protocolStatusMessage(tr("MAVLink Protocol"), tr("Opening Flight Data file for writing failed. "
+                                                                  "Unable to write to %1. Please choose a different file location.").arg(_tempLogFile.fileName()));
+            _closeLogFile();
+            _logSuspendError = true;
+            return;
         }
+    
+        qDebug() << "Temp log" << _tempLogFile.fileName();
+        
+        _logSuspendError = false;
     }
 }
 
-- 
2.22.0