SITL: correct compilation when HAL_LOGGING_ENABLED is false

libraries/SITL/SIM_Aircraft.cpp

@@ -456,6 +456,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
         last_speedup = sitl->speedup;
     }
 
+#if HAL_LOGGING_ENABLED
     // for EKF comparison log relhome pos and velocity at loop rate
     static uint16_t last_ticks;
     uint16_t ticks = AP::scheduler().ticks();
@@ -482,6 +483,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
                                     airspeed_pitot,
                                     achieved_rate_hz/rate_hz);
     }
+#endif
 }
 
 // returns perpendicular height to surface downward-facing rangefinder

libraries/SITL/SIM_Blimp.cpp

@@ -106,6 +106,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
 
   Vector3f rot_T{0,0,0};
 
+#if HAL_LOGGING_ENABLED
   AP::logger().WriteStreaming("SFT", "TimeUS,f0,f1,f2,f3",
                               "Qffff",
                               AP_HAL::micros64(),
@@ -138,6 +139,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
                               "Qfff",
                               AP_HAL::micros64(),
                               rot_T.x, rot_T.y, rot_T.z);
+#endif  // HAL_LOGGING_ENABLED
 
 #if 0 //"Wobble" attempt
   rot_T.y = fin[0].Fz * radius + fin[1].Fz * radius;

libraries/SITL/SIM_JSON_Master.cpp

@@ -99,6 +99,7 @@ void JSON_Master::receive(struct sitl_input &input)
             }
         }
 
+#if HAL_LOGGING_ENABLED
         const bool use_servos = list->instance == master_instance;
 
 // @LoggerMessage: SLV1
@@ -158,6 +159,7 @@ void JSON_Master::receive(struct sitl_input &input)
                        buffer.pwm[11],
                        buffer.pwm[12],
                        buffer.pwm[13]);
+#endif
 
         if (list->instance == master_instance) {
             // Use the servo outs from this instance

libraries/SITL/SIM_Morse.cpp

@@ -29,7 +29,6 @@
 #include <sys/types.h>
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Logger/AP_Logger.h>
 #include "pthread.h"
 #include <AP_HAL/utility/replace.h>
 

libraries/SITL/SIM_Webots.cpp

@@ -29,7 +29,6 @@
 #include <sys/types.h>
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Logger/AP_Logger.h>
 #include "pthread.h"
 #include <AP_HAL/utility/replace.h>
 

libraries/SITL/SITL.cpp

@@ -1169,6 +1169,7 @@ void SIM::sim_state_send(mavlink_channel_t chan) const
             (int32_t)(state.longitude*1.0e7));
 }
 
+#if HAL_LOGGING_ENABLED
 /* report SITL state to AP_Logger */
 void SIM::Log_Write_SIMSTATE()
 {
@@ -1196,6 +1197,7 @@ void SIM::Log_Write_SIMSTATE()
     };
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 /*
  convert a set of roll rates from earth frame to body frame