consistency with logviewer logging and add docs.

AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp

@@ -832,15 +832,30 @@ public:
         MavLinkLogViewerLog(std::shared_ptr<mavlinkcom::MavLinkNode> proxy) {
             proxy_ = proxy;
         }
+        ~MavLinkLogViewerLog() {
+            proxy_ = nullptr;
+        }
         void write(const mavlinkcom::MavLinkMessage& msg, uint64_t timestamp = 0) override {
-            unused(timestamp);
-            mavlinkcom::MavLinkMessage copy;
-            ::memcpy(&copy, &msg, sizeof(mavlinkcom::MavLinkMessage));
-            proxy_->sendMessage(copy);
+            if (proxy_ != nullptr) {
+                unused(timestamp);
+                mavlinkcom::MavLinkMessage copy;
+                ::memcpy(&copy, &msg, sizeof(mavlinkcom::MavLinkMessage));
+                try {
+                    proxy_->sendMessage(copy);
+                }
+                catch (std::exception&) {
+                    failures++;
+                    if (failures == 100) {
+                        // hmmm, doesn't like the proxy, bad socket perhaps, so stop trying...
+                        proxy_ = nullptr;
+                    }
+                }
+            }
         }
 
     private:
         std::shared_ptr<mavlinkcom::MavLinkNode> proxy_;
+        int failures = 0;
     };
 
 
@@ -873,6 +888,8 @@ protected: //methods
                 setNormalMode();
             }
 
+            connection_->stopLoggingSendMessage();
+            connection_->stopLoggingReceiveMessage();
             connection_->close();
         }
 
@@ -884,6 +901,7 @@ protected: //methods
             auto c = mav_vehicle_->getConnection();
             if (c != nullptr) {
                 c->stopLoggingSendMessage();
+                c->stopLoggingReceiveMessage();
             }
             mav_vehicle_->close();
             mav_vehicle_ = nullptr;
@@ -1139,7 +1157,13 @@ private: //methods
                 logviewer_out_proxy_ = nullptr;
             }
             else if (mav_vehicle_ != nullptr) {
-                mav_vehicle_->getConnection()->startLoggingSendMessage(std::make_shared<MavLinkLogViewerLog>(logviewer_out_proxy_));
+                auto proxylog = std::make_shared<MavLinkLogViewerLog>(logviewer_out_proxy_);
+                mav_vehicle_->getConnection()->startLoggingSendMessage(proxylog);
+                mav_vehicle_->getConnection()->startLoggingReceiveMessage(proxylog);
+                if (connection_ != nullptr) {
+                    connection_->startLoggingSendMessage(proxylog);
+                    connection_->startLoggingReceiveMessage(proxylog);
+                }
             }
         }
         return logviewer_proxy_ != nullptr;

docs/log_viewer.md

@@ -20,7 +20,7 @@ log files so you can compare the data from each.
 
 ### Realtime
 
-You can also get a realtime view if you connect the LogViewer `before` you run the simulation.  
+You can also get a realtime view if you connect the LogViewer `before` you run the simulation.
 
 ![connect](images/log_viewer_connect.png)
 
@@ -38,9 +38,13 @@ For this to work you need to configure the `settings.json` with the following se
     }
 }
 ```
+
+Note: do not use the "Logs" setting when you want realtime LogViewer logging.  Logging to
+a file using "Logs" is mutually exclusive. with LogViewer logging.
+
 Simply press the blue connector button on the top right corner of the window, select the Socket
-`tab`, enter the port number `14388`, and your `localhost` network.  If you are using WSL 2 on 
-Windows then select `vEthernet (WSL)`.  
+`tab`, enter the port number `14388`, and your `localhost` network.  If you are using WSL 2 on
+Windows then select `vEthernet (WSL)`.
 
 If you do choose `vEthernet (WSL)` then make sure you also set `LocalHostIp` and
 `LogViewerHostIp` to the matching WSL ethernet address, something like `172.31.64.1`.

docs/px4_logging.md

@@ -25,10 +25,12 @@ You will then see log files organized by date in d:\temp\logs, specifically *inp
 
 ## MavLink LogViewer
 For MavLink enabled drones, you can also use our [Log Viewer](log_viewer.md) to visualize the streams of data.
+If you enable this form of realtime logging you should not use the "Logs" setting above, these two forms of logging
+are mutually exclusive.
 
 ## PX4 Log in SITL Mode
 
-In SITL mode, please a log file is produced when drone is armed. The SITL terminal will contain the path to the log file, it should look something like this 
+In SITL mode, please a log file is produced when drone is armed. The SITL terminal will contain the path to the log file, it should look something like this
 ```
 INFO  [logger] Opened log file: rootfs/fs/microsd/log/2017-03-27/20_02_49.ulg
 ```