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AP_AHRS: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:04 +10:00 committed by Andrew Tridgell
parent d28a867453
commit 7cf033efd9
3 changed files with 15 additions and 1 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -559,6 +559,7 @@ void AP_AHRS::update_EKF2(void)
if (start_time_ms == 0) { if (start_time_ms == 0) {
start_time_ms = AP_HAL::millis(); start_time_ms = AP_HAL::millis();
} }
#if HAL_LOGGING_ENABLED
// if we're doing Replay logging then don't allow any data // if we're doing Replay logging then don't allow any data
// into the EKF yet. Don't allow it to block us for long. // into the EKF yet. Don't allow it to block us for long.
if (!hal.util->was_watchdog_reset()) { if (!hal.util->was_watchdog_reset()) {
@ -568,6 +569,7 @@ void AP_AHRS::update_EKF2(void)
} }
} }
} }
#endif
if (AP_HAL::millis() - start_time_ms > startup_delay_ms) { if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {
_ekf2_started = EKF2.InitialiseFilter(); _ekf2_started = EKF2.InitialiseFilter();
@ -626,6 +628,7 @@ void AP_AHRS::update_EKF3(void)
if (start_time_ms == 0) { if (start_time_ms == 0) {
start_time_ms = AP_HAL::millis(); start_time_ms = AP_HAL::millis();
} }
#if HAL_LOGGING_ENABLED
// if we're doing Replay logging then don't allow any data // if we're doing Replay logging then don't allow any data
// into the EKF yet. Don't allow it to block us for long. // into the EKF yet. Don't allow it to block us for long.
if (!hal.util->was_watchdog_reset()) { if (!hal.util->was_watchdog_reset()) {
@ -635,6 +638,7 @@ void AP_AHRS::update_EKF3(void)
} }
} }
} }
#endif
if (AP_HAL::millis() - start_time_ms > startup_delay_ms) { if (AP_HAL::millis() - start_time_ms > startup_delay_ms) {
_ekf3_started = EKF3.InitialiseFilter(); _ekf3_started = EKF3.InitialiseFilter();
} }
@ -2896,7 +2900,7 @@ bool AP_AHRS::set_home(const Location &loc)
return false; return false;
} }
#if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) #if !APM_BUILD_TYPE(APM_BUILD_UNKNOWN) && HAL_LOGGING_ENABLED
if (!_home_is_set) { if (!_home_is_set) {
// record home is set // record home is set
AP::logger().Write_Event(LogEvent::SET_HOME); AP::logger().Write_Event(LogEvent::SET_HOME);
@ -2906,7 +2910,9 @@ bool AP_AHRS::set_home(const Location &loc)
_home = tmp; _home = tmp;
_home_is_set = true; _home_is_set = true;
#if HAL_LOGGING_ENABLED
Log_Write_Home_And_Origin(); Log_Write_Home_And_Origin();
#endif
// send new home and ekf origin to GCS // send new home and ekf origin to GCS
GCS_SEND_MESSAGE(MSG_HOME); GCS_SEND_MESSAGE(MSG_HOME);

2
libraries/AP_AHRS/AP_AHRS_Backend.cpp
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@ -244,6 +244,7 @@ Vector2f AP_AHRS::body_to_earth2D(const Vector2f &bf) const
bf.x * _sin_yaw + bf.y * _cos_yaw); bf.x * _sin_yaw + bf.y * _cos_yaw);
} }
#if HAL_LOGGING_ENABLED
// log ahrs home and EKF origin // log ahrs home and EKF origin
void AP_AHRS::Log_Write_Home_And_Origin() void AP_AHRS::Log_Write_Home_And_Origin()
{ {
@ -260,6 +261,7 @@ void AP_AHRS::Log_Write_Home_And_Origin()
Write_Origin(LogOriginType::ahrs_home, _home); Write_Origin(LogOriginType::ahrs_home, _home);
} }
} }
#endif
// get apparent to true airspeed ratio // get apparent to true airspeed ratio
float AP_AHRS_Backend::get_EAS2TAS(void) { float AP_AHRS_Backend::get_EAS2TAS(void) {

6
libraries/AP_AHRS/AP_AHRS_Logging.cpp
View File

@ -1,3 +1,7 @@
#include <AP_Logger/AP_Logger_config.h>
#if HAL_LOGGING_ENABLED
#include "AP_AHRS.h" #include "AP_AHRS.h"
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
@ -184,3 +188,5 @@ void AP_AHRS_View::Write_Rate(const AP_Motors &motors, const AC_AttitudeControl
AP::logger().WriteBlock(&pkt_ATSC, sizeof(pkt_ATSC)); AP::logger().WriteBlock(&pkt_ATSC, sizeof(pkt_ATSC));
} }
} }
#endif // HAL_LOGGING_ENABLED