Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_TECS/AP_TECS.cpp
View File

@ -788,6 +788,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
// Sum the components.
_throttle_dem = _throttle_dem + _integTHR_state;
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){
AP::logger().WriteStreaming("TEC3","TimeUS,KED,PED,KEDD,PEDD,TEE,TEDE,FFT,Imin,Imax,I,Emin,Emax",
"Qffffffffffff",
@ -805,6 +806,7 @@ void AP_TECS::_update_throttle_with_airspeed(void)
(double)SPE_err_min,
(double)SPE_err_max);
}
#endif
}
// Constrain throttle demand and record clipping
@ -1057,6 +1059,7 @@ void AP_TECS::_update_pitch(void)
_last_pitch_dem = _pitch_dem;
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){
// log to AP_Logger
// @LoggerMessage: TEC2
@ -1094,6 +1097,7 @@ void AP_TECS::_update_pitch(void)
(double)_PITCHminf,
(double)_PITCHmaxf);
}
#endif
}
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;
}
#if HAL_LOGGING_ENABLED
if (AP::logger().should_log(_log_bitmask)){
// log to AP_Logger
// @LoggerMessage: TECS
@ -1414,4 +1419,5 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
(double)_TAS_rate_dem,
_flags_byte);
}
#endif
}