From bb9af3b79dacd59980523585ca90fb9202a321d8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 24 Feb 2018 12:08:29 +1100
Subject: [PATCH] Copter: autotune: correct compilation when logging disabled
---
ArduCopter/mode_autotune.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp
index 1b2ab0e4c9..29cc645cd2 100644
--- a/ArduCopter/mode_autotune.cpp
+++ b/ArduCopter/mode_autotune.cpp
@@ -649,8 +649,10 @@ void Copter::ModeAutoTune::autotune_attitude_control()
}
// log this iterations lean angle and rotation rate
+#if LOGGING_ENABLED == ENABLED
Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
copter.DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
+#endif
break;
case UPDATE_GAINS:
@@ -658,6 +660,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
// re-enable rate limits
attitude_control->use_ff_and_input_shaping(true);
+#if LOGGING_ENABLED == ENABLED
// log the latest gains
if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
switch (axis) {
@@ -684,6 +687,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
break;
}
}
+#endif
// Check results after mini-step to increase rate D gain
switch (tune_type) {