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AP_Vehicle: allow compilation with HAL_LOGGING_ENABLED false

This commit is contained in:
Peter Barker 2023-07-14 10:58:08 +10:00 committed by Andrew Tridgell
parent 62ac116669
commit 1b288416e1
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_Vehicle/AP_Vehicle.cpp
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@ -476,7 +476,7 @@ void AP_Vehicle::loop()
} }
const uint32_t new_internal_errors = AP::internalerror().errors(); const uint32_t new_internal_errors = AP::internalerror().errors();
if(_last_internal_errors != new_internal_errors) { if(_last_internal_errors != new_internal_errors) {
AP::logger().Write_Error(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED); LOGGER_WRITE_ERROR(LogErrorSubsystem::INTERNAL_ERROR, LogErrorCode::INTERNAL_ERRORS_DETECTED);
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Internal Errors 0x%x", (unsigned)new_internal_errors);
_last_internal_errors = new_internal_errors; _last_internal_errors = new_internal_errors;
} }
@ -598,10 +598,12 @@ void AP_Vehicle::scheduler_delay_callback()
static uint32_t last_1hz, last_50hz, last_5s; static uint32_t last_1hz, last_50hz, last_5s;
#if HAL_LOGGING_ENABLED
AP_Logger &logger = AP::logger(); AP_Logger &logger = AP::logger();
// don't allow potentially expensive logging calls: // don't allow potentially expensive logging calls:
logger.EnableWrites(false); logger.EnableWrites(false);
#endif
const uint32_t tnow = AP_HAL::millis(); const uint32_t tnow = AP_HAL::millis();
if (tnow - last_1hz > 1000) { if (tnow - last_1hz > 1000) {
@ -626,7 +628,9 @@ void AP_Vehicle::scheduler_delay_callback()
} }
} }
#if HAL_LOGGING_ENABLED
logger.EnableWrites(true); logger.EnableWrites(true);
#endif
} }
// if there's been a watchdog reset, notify the world via a statustext: // if there's been a watchdog reset, notify the world via a statustext:
@ -807,7 +811,7 @@ void AP_Vehicle::update_dynamic_notch_at_specified_rate()
void AP_Vehicle::notify_no_such_mode(uint8_t mode_number) void AP_Vehicle::notify_no_such_mode(uint8_t mode_number)
{ {
GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"No such mode %u", mode_number); GCS_SEND_TEXT(MAV_SEVERITY_WARNING,"No such mode %u", mode_number);
AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode_number)); LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode_number));
} }
// reboot the vehicle in an orderly manner, doing various cleanups and // reboot the vehicle in an orderly manner, doing various cleanups and