From 573a7b172ea9b2a5bedcef3f95ec80c5b5b0ec46 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:08 +1000
Subject: [PATCH] AP_Terrain: allow compilation with HAL_LOGGING_ENABLED false

---
 libraries/AP_Terrain/AP_Terrain.cpp | 3 +++
 libraries/AP_Terrain/AP_Terrain.h   | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index 7e9e754036..d2aab8bf1d 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -26,6 +26,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_Filesystem/AP_Filesystem.h>
+#include <AP_Rally/AP_Rally.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -439,6 +440,7 @@ bool AP_Terrain::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len) cons
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_Terrain::log_terrain_data()
 {
     if (!allocate()) {
@@ -472,6 +474,7 @@ void AP_Terrain::log_terrain_data()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 /*
   allocate terrain cache. Making this dynamically allocated allows
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index ff55ce0dbb..8a6be4579d 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -27,6 +27,7 @@
 #include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #define TERRAIN_DEBUG 0
 
@@ -172,10 +173,12 @@ public:
      */
     float lookahead(float bearing, float distance, float climb_ratio);
 
+#if HAL_LOGGING_ENABLED
     /*
       log terrain status to AP_Logger
      */
     void log_terrain_data();
+#endif
 
     /*
       get some statistics for TERRAIN_REPORT