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AP_GPS: add support for AP_Logger into AP_Periph

This commit is contained in:
Peter Barker 2021-05-20 12:34:13 +10:00 committed by Andrew Tridgell
parent c11a6bbb47
commit 15cd41ca19
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_GPS/AP_GPS.cpp
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@ -755,7 +755,7 @@ AP_GPS::GPS_Status AP_GPS::highest_supported_status(uint8_t instance) const
bool AP_GPS::should_log() const bool AP_GPS::should_log() const
{ {
#ifndef HAL_BUILD_AP_PERIPH #if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) { if (logger == nullptr) {
return false; return false;
@ -890,12 +890,14 @@ void AP_GPS::update_instance(uint8_t instance)
} }
} }
} }
#ifndef HAL_BUILD_AP_PERIPH #if HAL_LOGGING_ENABLED
if (data_should_be_logged && should_log()) { if (data_should_be_logged && should_log()) {
Write_GPS(instance); Write_GPS(instance);
} }
#endif
#ifndef HAL_BUILD_AP_PERIPH
if (state[instance].status >= GPS_OK_FIX_3D) { if (state[instance].status >= GPS_OK_FIX_3D) {
const uint64_t now = time_epoch_usec(instance); const uint64_t now = time_epoch_usec(instance);
if (now != 0) { if (now != 0) {
@ -1743,7 +1745,7 @@ void AP_GPS::calc_blended_state(void)
_blended_antenna_offset.zero(); _blended_antenna_offset.zero();
_blended_lag_sec = 0; _blended_lag_sec = 0;
#ifndef HAL_BUILD_AP_PERIPH #if HAL_LOGGING_ENABLED
const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms; const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms;
#endif #endif
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0; timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0;
@ -1888,7 +1890,7 @@ void AP_GPS::calc_blended_state(void)
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1; timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1;
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2; timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
#ifndef HAL_BUILD_AP_PERIPH #if HAL_LOGGING_ENABLED
if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms && if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms &&
should_log()) { should_log()) {
Write_GPS(GPS_BLENDED_INSTANCE); Write_GPS(GPS_BLENDED_INSTANCE);