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