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AP_GyroFFT: allow compilation with HAL_LOGGING_ENABLED false

This commit is contained in:
Peter Barker 2023-07-14 10:58:06 +10:00 committed by Andrew Tridgell
parent 1c395966ce
commit d89d8ee564
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -473,7 +473,7 @@ uint16_t AP_GyroFFT::run_cycle()
_thread_state._last_output_us[_update_axis] = AP_HAL::micros();
_output_cycle_micros = _thread_state._last_output_us[_update_axis] - now;
#if AP_SIM_ENABLED
#if AP_SIM_ENABLED && HAL_LOGGING_ENABLED
// extra logging when running simulations
AP::logger().WriteStreaming(
"FTN3",
@ -966,6 +966,8 @@ float AP_GyroFFT::calculate_weighted_freq_hz(const Vector3f& energy, const Vecto
// @Field: FHZ: FFT health, Z-axis
// @Field: Tc: FFT cycle time
#if HAL_LOGGING_ENABLED
// log gyro fft messages
void AP_GyroFFT::write_log_messages()
{
@ -1048,6 +1050,8 @@ void AP_GyroFFT::log_noise_peak(uint8_t id, FrequencyPeak peak) const
get_center_freq_energy(peak).z);
}
#endif
// return an average noise bandwidth weighted by bin energy
// called from main thread
float AP_GyroFFT::get_weighted_noise_center_bandwidth_hz() const