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AP_Terrain: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:08 +10:00 committed by Andrew Tridgell
parent 3ae9e36bd3
commit 573a7b172e
2 changed files with 6 additions and 0 deletions
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3
libraries/AP_Terrain/AP_Terrain.cpp
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@ -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

3
libraries/AP_Terrain/AP_Terrain.h
View File

@ -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