Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: fixed build without logging

This commit is contained in:
Andrew Tridgell 2022-06-05 21:19:13 +10:00 committed by Randy Mackay
parent d83a56b60b
commit d023e1cd8a
2 changed files with 11 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal;
#define SBP_DEBUGGING 1
#define SBP_HW_LOGGING 1
#define SBP_HW_LOGGING HAL_LOGGING_ENABLED
#define SBP_TIMEOUT_HEATBEAT 4000
#define SBP_TIMEOUT_PVT 500
@ -228,7 +228,9 @@ AP_GPS_SBP::_sbp_process_message() {
break;
}
#if SBP_HW_LOGGING
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
}
bool
@ -292,7 +294,9 @@ AP_GPS_SBP::_attempt_state_update()
last_full_update_cpu_ms = now;
state.rtk_iar_num_hypotheses = last_iar_num_hypotheses;
#if SBP_HW_LOGGING
logging_log_full_update();
#endif
ret = true;
} else if (now - last_full_update_cpu_ms > SBP_TIMEOUT_PVT) {

6
libraries/AP_GPS/AP_GPS_SBP2.cpp
View File

@ -208,17 +208,21 @@ AP_GPS_SBP2::_sbp_process_message() {
case SBP_EXT_EVENT_MSGTYPE:
memcpy(&last_event, parser_state.msg_buff, sizeof(struct sbp_ext_event_t));
check_new_itow(last_event.tow, parser_state.msg_len);
#if HAL_LOGGING_ENABLED
logging_ext_event();
#endif
break;
default:
break;
}
#if HAL_LOGGING_ENABLED
// send all messages we receive to log, even if it's an unsupported message,
// so we can do additional post-processing from logs.
// The log mask will be used to adjust or suppress logging
logging_log_raw_sbp(parser_state.msg_type, parser_state.sender_id, parser_state.msg_len, parser_state.msg_buff);
#endif
}
int32_t
@ -440,6 +444,7 @@ AP_GPS_SBP2::_detect(struct SBP2_detect_state &state, uint8_t data)
return false;
}
#if HAL_LOGGING_ENABLED
void
AP_GPS_SBP2::logging_log_full_update()
{
@ -525,4 +530,5 @@ AP_GPS_SBP2::logging_ext_event() {
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
};
#endif // HAL_LOGGING_ENABLED
#endif //AP_GPS_SBP2_ENABLED