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Copter: autotune: correct compilation when logging disabled

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Peter Barker 2018-02-24 12:08:29 +11:00 committed by Randy Mackay
parent 75180c3c08
commit bb9af3b79d
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/mode_autotune.cpp
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@ -649,8 +649,10 @@ void Copter::ModeAutoTune::autotune_attitude_control()
} }
// log this iterations lean angle and rotation rate // log this iterations lean angle and rotation rate
#if LOGGING_ENABLED == ENABLED
Log_Write_AutoTuneDetails(lean_angle, rotation_rate); Log_Write_AutoTuneDetails(lean_angle, rotation_rate);
copter.DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control); copter.DataFlash.Log_Write_Rate(ahrs, *motors, *attitude_control, *pos_control);
#endif
break; break;
case UPDATE_GAINS: case UPDATE_GAINS:
@ -658,6 +660,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
// re-enable rate limits // re-enable rate limits
attitude_control->use_ff_and_input_shaping(true); attitude_control->use_ff_and_input_shaping(true);
#if LOGGING_ENABLED == ENABLED
// log the latest gains // log the latest gains
if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) { if ((tune_type == SP_DOWN) || (tune_type == SP_UP)) {
switch (axis) { switch (axis) {
@ -684,6 +687,7 @@ void Copter::ModeAutoTune::autotune_attitude_control()
break; break;
} }
} }
#endif
// Check results after mini-step to increase rate D gain // Check results after mini-step to increase rate D gain
switch (tune_type) { switch (tune_type) {