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AP_ESC_Telem: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:05 +10:00 committed by Andrew Tridgell
parent dd4d017717
commit a7b658c260
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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@ -490,11 +490,14 @@ void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, cons
void AP_ESC_Telem::update()
{
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
#endif
const uint32_t now_us = AP_HAL::micros();
for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
#if HAL_LOGGING_ENABLED
// Push received telemetry data into the logging system
if (logger && logger->logging_enabled()) {
if (_telem_data[i].last_update_ms != _last_telem_log_ms[i]
@ -532,6 +535,7 @@ void AP_ESC_Telem::update()
_last_rpm_log_us[i] = _rpm_data[i].last_update_us;
}
}
#endif // HAL_LOGGING_ENABLED
if ((now_us - _rpm_data[i].last_update_us) > ESC_RPM_DATA_TIMEOUT_US) {
_rpm_data[i].data_valid = false;