AP_Winch: allow compilation with HAL_LOGGING_ENABLED false

libraries/AP_Winch/AP_Winch.cpp

@@ -159,7 +159,9 @@ bool AP_Winch::pre_arm_check(char *failmsg, uint8_t failmsg_len) const
     }
 
 PASS_TO_BACKEND(update)
+#if HAL_LOGGING_ENABLED
 PASS_TO_BACKEND(write_log)
+#endif
 
 #undef PASS_TO_BACKEND
 

libraries/AP_Winch/AP_Winch.h

@@ -23,6 +23,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Param/AP_Param.h>
 #include <AC_PID/AC_PID.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 class AP_Winch_Backend;
 
@@ -64,8 +65,10 @@ public:
     // send status to ground station
     void send_status(const class GCS_MAVLINK &channel);
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log();
+#endif
 
     // returns true if pre arm checks have passed
     bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const;

libraries/AP_Winch/AP_Winch_Backend.h

@@ -19,6 +19,8 @@
 
 #if AP_WINCH_ENABLED
 
+#include <AP_Logger/AP_Logger_config.h>
+
 class AP_Winch_Backend {
 public:
     AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
@@ -39,8 +41,10 @@ public:
     // send status to ground station
     virtual void send_status(const GCS_MAVLINK &channel) = 0;
 
+#if HAL_LOGGING_ENABLED
     // write log
     virtual void write_log() = 0;
+#endif
 
     // helper to check if option enabled
     bool option_enabled(AP_Winch::Options option) const {

libraries/AP_Winch/AP_Winch_Daiwa.cpp

@@ -86,6 +86,7 @@ void AP_Winch_Daiwa::send_status(const GCS_MAVLINK &channel)
         status_bitmask);
 }
 
+#if HAL_LOGGING_ENABLED
 // write log
 void AP_Winch_Daiwa::write_log()
 {
@@ -102,6 +103,7 @@ void AP_Winch_Daiwa::write_log()
             latest.voltage,
             constrain_int16(latest.motor_temp, INT8_MIN, INT8_MAX));
 }
+#endif
 
 // read incoming data from winch and update intermediate and latest structures
 void AP_Winch_Daiwa::read_data_from_winch()

libraries/AP_Winch/AP_Winch_Daiwa.h

@@ -52,8 +52,10 @@ public:
     // send status to ground station
     void send_status(const GCS_MAVLINK &channel) override;
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log() override;
+#endif
 
 private:
 

libraries/AP_Winch/AP_Winch_PWM.cpp

@@ -93,6 +93,7 @@ void AP_Winch_PWM::send_status(const GCS_MAVLINK &channel)
 }
 
 // write log
+#if HAL_LOGGING_ENABLED
 void AP_Winch_PWM::write_log()
 {
     AP::logger().Write_Winch(
@@ -108,5 +109,6 @@ void AP_Winch_PWM::write_log()
             0,              // voltage (unsupported)
             0);             // temp (unsupported)
 }
+#endif
 
 #endif  // AP_WINCH_PWM_ENABLED

libraries/AP_Winch/AP_Winch_PWM.h

@@ -36,8 +36,10 @@ public:
     // send status to ground station
     void send_status(const GCS_MAVLINK &channel) override;
 
+#if HAL_LOGGING_ENABLED
     // write log
     void write_log() override;
+#endif
 
 private: