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AP_TECS: 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 7d798943fc
commit 512c1f030f
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_TECS/AP_TECS.cpp
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@ -788,6 +788,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
// Sum the components. // Sum the components.
_throttle_dem = _throttle_dem + _integTHR_state; _throttle_dem = _throttle_dem + _integTHR_state;
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){ if (AP::logger().should_log(_log_bitmask)){
AP::logger().WriteStreaming("TEC3","TimeUS,KED,PED,KEDD,PEDD,TEE,TEDE,FFT,Imin,Imax,I,Emin,Emax", AP::logger().WriteStreaming("TEC3","TimeUS,KED,PED,KEDD,PEDD,TEE,TEDE,FFT,Imin,Imax,I,Emin,Emax",
"Qffffffffffff", "Qffffffffffff",
@ -805,6 +806,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
(double)SPE_err_min, (double)SPE_err_min,
(double)SPE_err_max); (double)SPE_err_max);
} }
#endif
} }
// Constrain throttle demand and record clipping // Constrain throttle demand and record clipping
@ -1057,6 +1059,7 @@ void AP_TECS::_update_pitch(void)
_last_pitch_dem = _pitch_dem; _last_pitch_dem = _pitch_dem;
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){ if (AP::logger().should_log(_log_bitmask)){
// log to AP_Logger // log to AP_Logger
// @LoggerMessage: TEC2 // @LoggerMessage: TEC2
@ -1094,6 +1097,7 @@ void AP_TECS::_update_pitch(void)
(double)_PITCHminf, (double)_PITCHminf,
(double)_PITCHmaxf); (double)_PITCHmaxf);
} }
#endif
} }
void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe) void AP_TECS::_initialise_states(int32_t ptchMinCO_cd, float hgt_afe)
@ -1372,6 +1376,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
_flags.badDescent = false; _flags.badDescent = false;
} }
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){ if (AP::logger().should_log(_log_bitmask)){
// log to AP_Logger // log to AP_Logger
// @LoggerMessage: TECS // @LoggerMessage: TECS
@ -1414,4 +1419,5 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
(double)_TAS_rate_dem, (double)_TAS_rate_dem,
_flags_byte); _flags_byte);
} }
#endif
} }