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AC_AttitudeControl: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:03 +10:00 committed by Andrew Tridgell
parent 29f1953ad7
commit 2359ffc7da
2 changed files with 4 additions and 0 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1160,6 +1160,7 @@ void AC_PosControl::standby_xyz_reset()
init_ekf_xy_reset(); init_ekf_xy_reset();
} }
#if HAL_LOGGING_ENABLED
// write PSC and/or PSCZ logs // write PSC and/or PSCZ logs
void AC_PosControl::write_log() 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()); -_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 /// crosstrack_error - returns horizontal error to the closest point to the current track
float AC_PosControl::crosstrack_error() const float AC_PosControl::crosstrack_error() const

2
libraries/AC_AttitudeControl/ControlMonitor.cpp
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@ -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); control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF, _control_monitor.rms_yaw);
} }
#if HAL_LOGGING_ENABLED
/* /*
log a CTRL message log a CTRL message
*/ */
@ -59,6 +60,7 @@ void AC_AttitudeControl::control_monitor_log(void) const
(double)safe_sqrt(_control_monitor.rms_yaw)); (double)safe_sqrt(_control_monitor.rms_yaw));
} }
#endif // HAL_LOGGING_ENABLED
/* /*
return current controller RMS filter value for roll return current controller RMS filter value for roll