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AC_PrecLand: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:04 +10:00 committed by Andrew Tridgell
parent 78daf8911b
commit 26b665ed82
1 changed files with 4 additions and 0 deletions
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4
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -310,11 +310,13 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
// check the status of the landing target location // check the status of the landing target location
check_target_status(rangefinder_alt_m, rangefinder_alt_valid); check_target_status(rangefinder_alt_m, rangefinder_alt_valid);
#if HAL_LOGGING_ENABLED
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (now - last_log_ms > 40) { // 25Hz if (now - last_log_ms > 40) { // 25Hz
last_log_ms = now; last_log_ms = now;
Write_Precland(); Write_Precland();
} }
#endif
} }
// check the status of the target // check the status of the target
@ -740,6 +742,7 @@ void AC_PrecLand::run_output_prediction()
_last_valid_target_ms = AP_HAL::millis(); _last_valid_target_ms = AP_HAL::millis();
} }
#if HAL_LOGGING_ENABLED
// Write a precision landing entry // Write a precision landing entry
void AC_PrecLand::Write_Precland() void AC_PrecLand::Write_Precland()
{ {
@ -773,6 +776,7 @@ void AC_PrecLand::Write_Precland()
}; };
AP::logger().WriteBlock(&pkt, sizeof(pkt)); AP::logger().WriteBlock(&pkt, sizeof(pkt));
} }
#endif
// singleton instance // singleton instance
AC_PrecLand *AC_PrecLand::_singleton; AC_PrecLand *AC_PrecLand::_singleton;