From a82b7f20c930343332ca85f274c203d7308a75bc Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 25 Nov 2022 09:42:27 +1100
Subject: [PATCH] AP_HAL_ChibiOS: use HAL_LOGGING_ENABLED in place of
 HAL_BOOTLOADER_BUILD

bootloader already disables GCS, so we can rely on HAL_GCS_ENABLED in place of HAL_BOOTLOADER_BUILD
---
 libraries/AP_HAL_ChibiOS/Util.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 85308f5345..6488aa2b04 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -37,7 +37,8 @@
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_OpenDroneID/AP_OpenDroneID.h>
 #endif
-#ifndef HAL_BOOTLOADER_BUILD
+#include <AP_Logger/AP_Logger_config.h>
+#if HAL_LOGGING_ENABLED
 #include <AP_Logger/AP_Logger.h>
 #endif
 
@@ -267,6 +268,7 @@ uint64_t Util::get_hw_rtc() const
 #if AP_BOOTLOADER_FLASHING_ENABLED
 
 #if HAL_GCS_ENABLED
+#include <GCS_MAVLink/GCS.h>
 #define Debug(fmt, args ...)  do { gcs().send_text(MAV_SEVERITY_INFO, fmt, ## args); } while (0)
 #endif // HAL_GCS_ENABLED
 
@@ -761,7 +763,7 @@ bool Util::get_true_random_vals(uint8_t* data, size_t size, uint32_t timeout_us)
 */
 void Util::log_stack_info(void)
 {
-#if !defined(HAL_BOOTLOADER_BUILD) && HAL_LOGGING_ENABLED
+#if HAL_LOGGING_ENABLED
     static thread_t *last_tp;
     static uint8_t thread_id;
     thread_t *tp = last_tp;