ArduPlane: allow compilation with HAL_LOGGING_ENABLED false

ArduPlane/AP_Arming.cpp

@@ -397,7 +397,9 @@ void AP_Arming_Plane::update_soft_armed()
 #endif
 
     hal.util->set_soft_armed(_armed);
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
+#endif
 
     // update delay_arming oneshot
     if (delay_arming &&

ArduPlane/ArduPlane.cpp

@@ -104,11 +104,15 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AP_CAMERA_ENABLED
     SCHED_TASK_CLASS(AP_Camera, &plane.camera, update,      50, 100, 108),
 #endif // CAMERA == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler, &plane.scheduler, update_logging,         0.2,    100, 111),
+#endif
     SCHED_TASK(compass_save,          0.1,    200, 114),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(Log_Write_FullRate,        400,    300, 117),
     SCHED_TASK(update_logging10,        10,    300, 120),
     SCHED_TASK(update_logging25,        25,    300, 123),
+#endif
 #if HAL_SOARING_ENABLED
     SCHED_TASK(update_soaring,         50,    400, 126),
 #endif
@@ -117,7 +121,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Terrain, &plane.terrain, update, 10, 200, 132),
 #endif // AP_TERRAIN_AVAILABLE
     SCHED_TASK(update_is_flying_5Hz,    5,    100, 135),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Logger,         &plane.logger, periodic_tasks, 50, 400, 138),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins,    periodic,       50,  50, 141),
@@ -161,9 +165,11 @@ void Plane::ahrs_update()
 
     ahrs.update();
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_IMU)) {
         AP::ins().Write_IMU();
     }
+#endif
 
     // calculate a scaled roll limit based on current pitch
     roll_limit_cd = aparm.roll_limit_cd;
@@ -194,9 +200,11 @@ void Plane::ahrs_update()
     quadplane.inertial_nav.update();
 #endif
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
         ahrs.write_video_stabilisation();
     }
+#endif
 }
 
 /*
@@ -234,6 +242,7 @@ void Plane::update_compass(void)
     compass.read();
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   do 10Hz logging
  */
@@ -286,7 +295,7 @@ void Plane::update_logging25(void)
     if (should_log(MASK_LOG_IMU))
         AP::ins().Write_Vibration();
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   check for AFS failsafe check
@@ -333,7 +342,7 @@ void Plane::one_second_loop()
     AP_Notify::flags.pre_arm_gps_check = true;
     AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO;
 
-#if AP_TERRAIN_AVAILABLE
+#if AP_TERRAIN_AVAILABLE && HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_GPS)) {
         terrain.log_terrain_data();
     }
@@ -528,7 +537,9 @@ void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
     }
 
     flight_stage = fs;
+#if HAL_LOGGING_ENABLED
     Log_Write_Status();
+#endif
 }
 
 void Plane::update_alt()

ArduPlane/GCS_Mavlink.cpp

@@ -1230,7 +1230,11 @@ void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:
     {
+#if HAL_LOGGING_ENABLED
         handle_radio_status(msg, plane.should_log(MASK_LOG_PM));
+#else
+        handle_radio_status(msg, false);
+#endif
         break;
     }
 

ArduPlane/GCS_Mavlink.h

@@ -48,7 +48,7 @@ protected:
 
 private:
 
-    void send_pid_info(const AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
+    void send_pid_info(const struct AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);
 
     void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;

ArduPlane/Log.cpp

@@ -1,6 +1,6 @@
 #include "Plane.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Write an attitude packet
 void Plane::Log_Write_Attitude(void)
@@ -500,18 +500,4 @@ void Plane::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED
-
-void Plane::Log_Write_Attitude(void) {}
-void Plane::Log_Write_Fast(void) {}
-void Plane::Log_Write_Control_Tuning() {}
-void Plane::Log_Write_OFG_Guided() {}
-void Plane::Log_Write_Nav_Tuning() {}
-void Plane::Log_Write_Status() {}
-void Plane::Log_Write_Guided(void) {}
-void Plane::Log_Write_RC(void) {}
-void Plane::Log_Write_Vehicle_Startup_Messages() {}
-
-void Plane::log_init(void) {}
-
-#endif // LOGGING_ENABLED

ArduPlane/Parameters.cpp

@@ -909,9 +909,11 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(camera_mount,           "MNT",  AP_Mount),
 #endif
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp

ArduPlane/Plane.cpp

@@ -24,7 +24,9 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
   constructor for main Plane class
  */
 Plane::Plane(void)
+#if HAL_LOGGING_ENABLED
     : logger(g.log_bitmask)
+#endif
 {
     // C++11 doesn't allow in-class initialisation of bitfields
     auto_state.takeoff_complete = true;

ArduPlane/Plane.h

@@ -193,7 +193,9 @@ private:
     RC_Channel *channel_flap;
     RC_Channel *channel_airbrake;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // scaled roll limit based on pitch
     int32_t roll_limit_cd;

ArduPlane/commands_logic.cpp

@@ -12,10 +12,12 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     plane.target_altitude.terrain_following_pending = false;
 #endif
 
+#if HAL_LOGGING_ENABLED
     // log when new commands start
     if (should_log(MASK_LOG_CMD)) {
         logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     // special handling for nav vs non-nav commands
     if (AP_Mission::is_nav_cmd(cmd)) {
@@ -359,7 +361,9 @@ void Plane::do_RTL(int32_t rtl_altitude_AMSL_cm)
     setup_glide_slope();
     setup_turn_angle();
 
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
+#endif
 }
 
 Location Plane::calc_best_rally_or_home_location(const Location &_current_loc, float rtl_home_alt_amsl_cm) const

ArduPlane/config.h

@@ -186,10 +186,6 @@
 // Logging control
 //
 
-#ifndef LOGGING_ENABLED
- # define LOGGING_ENABLED                ENABLED
-#endif
-
 #define DEFAULT_LOG_BITMASK   0xffff
 
 

ArduPlane/ekf_check.cpp

@@ -74,7 +74,7 @@ void Plane::ekf_check()
                 // limit count from climbing too high
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
@@ -91,7 +91,7 @@ void Plane::ekf_check()
             // if compass is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK, LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
             }
@@ -155,7 +155,7 @@ void Plane::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     ekf_check_state.failsafe_on = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_OCCURRED);
 
     // if not in a VTOL mode requiring position, then nothing needs to be done
 #if HAL_QUADPLANE_ENABLED
@@ -182,5 +182,5 @@ void Plane::failsafe_ekf_off_event(void)
     }
 
     ekf_check_state.failsafe_on = false;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV, LogErrorCode::FAILSAFE_RESOLVED);
 }

ArduPlane/fence.cpp

@@ -114,10 +114,10 @@ void Plane::fence_check()
             break;
         }
 
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode::ERROR_RESOLVED);
     }
 }
 

ArduPlane/is_flying.cpp

@@ -170,7 +170,9 @@ void Plane::update_is_flying_5Hz(void)
 
     crash_detection_update();
 
+#if HAL_LOGGING_ENABLED
     Log_Write_Status();
+#endif
 
     // tell AHRS flying state
     set_likely_flying(new_is_flying);

ArduPlane/qautotune.cpp

@@ -51,6 +51,7 @@ void QAutoTune::init_z_limits()
 }
 
 
+#if HAL_LOGGING_ENABLED
 // log VTOL PIDs for during twitch
 void QAutoTune::log_pids(void)
 {
@@ -58,6 +59,7 @@ void QAutoTune::log_pids(void)
     AP::logger().Write_PID(LOG_PIQP_MSG, plane.quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
     AP::logger().Write_PID(LOG_PIQY_MSG, plane.quadplane.attitude_control->get_rate_yaw_pid().get_pid_info());
 }
+#endif
 
 #endif // QAUTOTUNE_ENABLED
 

ArduPlane/qautotune.h

@@ -26,7 +26,9 @@ protected:
     float get_pilot_desired_climb_rate_cms(void) const override;
     void get_pilot_desired_rp_yrate_cd(float &roll_cd, float &pitch_cd, float &yaw_rate_cds) override;
     void init_z_limits() override;
+#if HAL_LOGGING_ENABLED
     void log_pids() override;
+#endif
 };
 
 #endif // QAUTOTUNE_ENABLED

ArduPlane/quadplane.cpp

@@ -1053,7 +1053,7 @@ void QuadPlane::check_yaw_reset(void)
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
         attitude_control->inertial_frame_reset();
         ekfYawReset_ms = new_ekfYawReset_ms;
-        AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
+        LOGGER_WRITE_EVENT(LogEvent::EKF_YAW_RESET);
     }
 }
 
@@ -1866,6 +1866,7 @@ void QuadPlane::update(void)
 
     tiltrotor.update();
 
+#if HAL_LOGGING_ENABLED
     // motors logging
     if (motors->armed()) {
         const bool motors_active = in_vtol_mode() || assisted_flight;
@@ -1886,7 +1887,9 @@ void QuadPlane::update(void)
             Log_Write_QControl_Tuning();
         }
     }
-
+#else
+    (void)now;
+#endif  // HAL_LOGGING_ENABLED
 }
 
 /*
@@ -2296,6 +2299,7 @@ void QuadPlane::poscontrol_init_approach(void)
     poscontrol.slow_descent = false;
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log the QPOS message
  */
@@ -2309,6 +2313,7 @@ void QuadPlane::log_QPOS(void)
                                 poscontrol.target_accel,
                                 poscontrol.overshoot);
 }
+#endif
 
 /*
   change position control state
@@ -2346,9 +2351,13 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
             qp.landing_detect.lower_limit_start_ms = 0;
         }
         // double log to capture the state change
+#if HAL_LOGGING_ENABLED
         qp.log_QPOS();
+#endif
         state = s;
+#if HAL_LOGGING_ENABLED
         qp.log_QPOS();
+#endif
         last_log_ms = now;
         overshoot = false;
     }
@@ -2926,11 +2935,13 @@ void QuadPlane::vtol_position_controller(void)
         run_z_controller();
     }
 
+#if HAL_LOGGING_ENABLED
     if (now_ms - poscontrol.last_log_ms >= 40) {
         // log poscontrol at 25Hz
         poscontrol.last_log_ms = now_ms;
         log_QPOS();
     }
+#endif
 }
 
 /*
@@ -3025,6 +3036,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
     // acceleration capability.
     const float nav_pitch_lower_limit_cd = - (int32_t)((float)aparm.angle_max * (1.0f - fwd_thr_scaler) + q_fwd_pitch_lim_cd * fwd_thr_scaler);
 
+#if HAL_LOGGING_ENABLED
     // Diagnostics logging - remove when feature is fully flight tested.
     AP::logger().WriteStreaming("FWDT",
                                 "TimeUS,fts,qfplcd,npllcd,npcd,qft",  // labels
@@ -3035,6 +3047,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
                                 (double)nav_pitch_lower_limit_cd,
                                 (double)plane.nav_pitch_cd,
                                 (double)q_fwd_throttle);
+#endif
 
     plane.nav_pitch_cd = MAX(plane.nav_pitch_cd, (int32_t)nav_pitch_lower_limit_cd);
 }
@@ -3640,6 +3653,7 @@ bool QuadPlane::verify_vtol_land(void)
     return false;
 }
 
+#if HAL_LOGGING_ENABLED
 // Write a control tuning packet
 void QuadPlane::Log_Write_QControl_Tuning()
 {
@@ -3671,6 +3685,7 @@ void QuadPlane::Log_Write_QControl_Tuning()
     // write multicopter position control message
     pos_control->write_log();
 }
+#endif
 
 
 /*

ArduPlane/system.cpp

@@ -76,7 +76,7 @@ void Plane::init_ardupilot()
     osd.init();
 #endif
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -182,7 +182,7 @@ void Plane::startup_ground(void)
     mission.init();
 
     // initialise AP_Logger library
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     logger.setVehicle_Startup_Writer(
         FUNCTOR_BIND(&plane, &Plane::Log_Write_Vehicle_Startup_Messages, void)
         );
@@ -341,7 +341,9 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
     old_mode.exit();
 
     // log and notify mode change
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
+#endif
     notify_mode(*control_mode);
     gcs().send_message(MSG_HEARTBEAT);
 
@@ -466,17 +468,15 @@ void Plane::notify_mode(const Mode& mode)
     notify.set_flight_mode_str(mode.name4());
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
 bool Plane::should_log(uint32_t mask)
 {
-#if LOGGING_ENABLED == ENABLED
     return logger.should_log(mask);
-#else
-    return false;
-#endif
 }
+#endif
 
 /*
   return throttle percentage from 0 to 100 for normal use and -100 to 100 when using reverse thrust

ArduPlane/tailsitter.cpp

@@ -783,6 +783,7 @@ void Tailsitter::speed_scaling(void)
 
 }
 
+#if HAL_LOGGING_ENABLED
 // Write tailsitter specific log
 void Tailsitter::write_log()
 {
@@ -799,6 +800,7 @@ void Tailsitter::write_log()
     };
     plane.logger.WriteBlock(&pkt, sizeof(pkt));
 }
+#endif  // HAL_LOGGING_ENABLED
 
 // return true if pitch control should be relaxed
 // on vectored belly sitters the pitch control is not relaxed in order to keep motors pointing and avoid risk of props hitting the ground