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SITL: correct compilation when HAL_LOGGING_ENABLED is false

This commit is contained in:
Peter Barker 2024-01-11 17:17:05 +11:00 committed by Andrew Tridgell
parent dae819ba54
commit 5ae4355e26
6 changed files with 8 additions and 2 deletions
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2
libraries/SITL/SIM_Aircraft.cpp
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@ -456,6 +456,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
last_speedup = sitl->speedup; last_speedup = sitl->speedup;
} }
#if HAL_LOGGING_ENABLED
// for EKF comparison log relhome pos and velocity at loop rate // for EKF comparison log relhome pos and velocity at loop rate
static uint16_t last_ticks; static uint16_t last_ticks;
uint16_t ticks = AP::scheduler().ticks(); uint16_t ticks = AP::scheduler().ticks();
@ -482,6 +483,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
airspeed_pitot, airspeed_pitot,
achieved_rate_hz/rate_hz); achieved_rate_hz/rate_hz);
} }
#endif
} }
// returns perpendicular height to surface downward-facing rangefinder // returns perpendicular height to surface downward-facing rangefinder

2
libraries/SITL/SIM_Blimp.cpp
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@ -106,6 +106,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
Vector3f rot_T{0,0,0}; Vector3f rot_T{0,0,0};
#if HAL_LOGGING_ENABLED
AP::logger().WriteStreaming("SFT", "TimeUS,f0,f1,f2,f3", AP::logger().WriteStreaming("SFT", "TimeUS,f0,f1,f2,f3",
"Qffff", "Qffff",
AP_HAL::micros64(), AP_HAL::micros64(),
@ -138,6 +139,7 @@ void Blimp::calculate_forces(const struct sitl_input &input, Vector3f &body_acc,
"Qfff", "Qfff",
AP_HAL::micros64(), AP_HAL::micros64(),
rot_T.x, rot_T.y, rot_T.z); rot_T.x, rot_T.y, rot_T.z);
#endif // HAL_LOGGING_ENABLED
#if 0 //"Wobble" attempt #if 0 //"Wobble" attempt
rot_T.y = fin[0].Fz * radius + fin[1].Fz * radius; rot_T.y = fin[0].Fz * radius + fin[1].Fz * radius;

2
libraries/SITL/SIM_JSON_Master.cpp
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@ -99,6 +99,7 @@ void JSON_Master::receive(struct sitl_input &input)
} }
} }
#if HAL_LOGGING_ENABLED
const bool use_servos = list->instance == master_instance; const bool use_servos = list->instance == master_instance;
// @LoggerMessage: SLV1 // @LoggerMessage: SLV1
@ -158,6 +159,7 @@ void JSON_Master::receive(struct sitl_input &input)
buffer.pwm[11], buffer.pwm[11],
buffer.pwm[12], buffer.pwm[12],
buffer.pwm[13]); buffer.pwm[13]);
#endif
if (list->instance == master_instance) { if (list->instance == master_instance) {
// Use the servo outs from this instance // Use the servo outs from this instance

1
libraries/SITL/SIM_Morse.cpp
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@ -29,7 +29,6 @@
#include <sys/types.h> #include <sys/types.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include "pthread.h" #include "pthread.h"
#include <AP_HAL/utility/replace.h> #include <AP_HAL/utility/replace.h>

1
libraries/SITL/SIM_Webots.cpp
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@ -29,7 +29,6 @@
#include <sys/types.h> #include <sys/types.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Logger/AP_Logger.h>
#include "pthread.h" #include "pthread.h"
#include <AP_HAL/utility/replace.h> #include <AP_HAL/utility/replace.h>

2
libraries/SITL/SITL.cpp
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@ -1169,6 +1169,7 @@ void SIM::sim_state_send(mavlink_channel_t chan) const
(int32_t)(state.longitude*1.0e7)); (int32_t)(state.longitude*1.0e7));
} }
#if HAL_LOGGING_ENABLED
/* report SITL state to AP_Logger */ /* report SITL state to AP_Logger */
void SIM::Log_Write_SIMSTATE() void SIM::Log_Write_SIMSTATE()
{ {
@ -1196,6 +1197,7 @@ void SIM::Log_Write_SIMSTATE()
}; };
AP::logger().WriteBlock(&pkt, sizeof(pkt)); AP::logger().WriteBlock(&pkt, sizeof(pkt));
} }
#endif
/* /*
convert a set of roll rates from earth frame to body frame convert a set of roll rates from earth frame to body frame