From 2359ffc7da2794c831f7165442e8f38ef5cf47de Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 14 Jul 2023 10:58:03 +1000 Subject: [PATCH] AC_AttitudeControl: allow compilation with HAL_LOGGING_ENABLED false --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 2 ++ libraries/AC_AttitudeControl/ControlMonitor.cpp | 2 ++ 2 files changed, 4 insertions(+) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index 282237fb3a..e82241ab3c 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -1160,6 +1160,7 @@ void AC_PosControl::standby_xyz_reset() init_ekf_xy_reset(); } +#if HAL_LOGGING_ENABLED // write PSC and/or PSCZ logs void AC_PosControl::write_log() { @@ -1180,6 +1181,7 @@ void AC_PosControl::write_log() -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss()); } } +#endif // HAL_LOGGING_ENABLED /// crosstrack_error - returns horizontal error to the closest point to the current track float AC_PosControl::crosstrack_error() const diff --git a/libraries/AC_AttitudeControl/ControlMonitor.cpp b/libraries/AC_AttitudeControl/ControlMonitor.cpp index 6bd6760735..1535a9f273 100644 --- a/libraries/AC_AttitudeControl/ControlMonitor.cpp +++ b/libraries/AC_AttitudeControl/ControlMonitor.cpp @@ -37,6 +37,7 @@ void AC_AttitudeControl::control_monitor_update(void) control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw); } +#if HAL_LOGGING_ENABLED /* log a CTRL message */ @@ -59,6 +60,7 @@ void AC_AttitudeControl::control_monitor_log(void) const (double)safe_sqrt(_control_monitor.rms_yaw)); } +#endif // HAL_LOGGING_ENABLED /* return current controller RMS filter value for roll