From d73e3a731866f906536a6b0d3473c5369a715d99 Mon Sep 17 00:00:00 2001
From: tumbili <bapstr@ethz.ch>
Date: Wed, 17 Feb 2016 15:09:23 +0100
Subject: [PATCH] start sdlog2 app with different arguments in replay mode

---
 ROMFS/px4fmu_common/init.d/rc.logging | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 5d374745a1..90c173c188 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -11,8 +11,16 @@ then
 		then
 		fi
 	else
-		if sdlog2 start -r 100 -a -b 12 -t
+		# 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 20 -t
+			then
+			fi
+		else
+			if sdlog2 start -r 1 -a -b 12 -t
+			then
+			fi
 		fi
 	fi
 fi