mirror of https://github.com/ArduPilot/ardupilot
ArduPlane: allow HarmonicNotches to be compiled out of the code
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4569b1ba14
commit
626d64f503
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@ -273,9 +273,11 @@ void Plane::update_logging25(void)
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if (should_log(MASK_LOG_CTUN)) {
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if (should_log(MASK_LOG_CTUN)) {
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Log_Write_Control_Tuning();
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Log_Write_Control_Tuning();
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#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
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if (!should_log(MASK_LOG_NOTCH_FULLRATE)) {
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if (!should_log(MASK_LOG_NOTCH_FULLRATE)) {
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AP::ins().write_notch_log_messages();
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AP::ins().write_notch_log_messages();
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}
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}
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#endif
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#if HAL_GYROFFT_ENABLED
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#if HAL_GYROFFT_ENABLED
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gyro_fft.write_log_messages();
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gyro_fft.write_log_messages();
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#endif
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#endif
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@ -65,9 +65,11 @@ void Plane::Log_Write_FullRate(void)
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if (should_log(MASK_LOG_ATTITUDE_FULLRATE)) {
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if (should_log(MASK_LOG_ATTITUDE_FULLRATE)) {
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Log_Write_Attitude();
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Log_Write_Attitude();
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}
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}
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#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
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if (should_log(MASK_LOG_NOTCH_FULLRATE)) {
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if (should_log(MASK_LOG_NOTCH_FULLRATE)) {
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AP::ins().write_notch_log_messages();
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AP::ins().write_notch_log_messages();
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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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@ -1481,6 +1481,7 @@ void Plane::load_parameters(void)
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}
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}
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#endif
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#endif
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#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
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#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
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#if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
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if (!ins.harmonic_notches[1].params.enabled()) {
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if (!ins.harmonic_notches[1].params.enabled()) {
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// notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
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// notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
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@ -1495,6 +1496,7 @@ void Plane::load_parameters(void)
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AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
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AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
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}
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}
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#endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
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#endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
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#endif // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
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// PARAMETER_CONVERSION - Added: Mar-2022
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// PARAMETER_CONVERSION - Added: Mar-2022
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#if AP_FENCE_ENABLED
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#if AP_FENCE_ENABLED
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