Tracker: correct compilation when HAL_LOGGING_ENABLED is false

AntennaTracker/Log.cpp

@@ -1,6 +1,6 @@
 #include "Tracker.h"
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Code to Write and Read packets from AP_Logger log memory
 
@@ -98,13 +98,4 @@ void Tracker::log_init(void)
     logger.Init(log_structure, ARRAY_SIZE(log_structure));
 }
 
-#else // LOGGING_ENABLED
-
-void Tracker::Log_Write_Attitude(void) {}
-
-void Tracker::log_init(void) {}
-void Tracker::Log_Write_Vehicle_Pos(int32_t lat, int32_t lng, int32_t alt, const Vector3f& vel) {}
-void Tracker::Log_Write_Vehicle_Baro(float pressure, float altitude) {}
-void Tracker::Log_Write_Vehicle_Startup_Messages() {}
-
-#endif // LOGGING_ENABLED
+#endif // HAL_LOGGING_ENABLED

AntennaTracker/Parameters.cpp

@@ -576,9 +576,11 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     PARAM_VEHICLE_INFO,
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_

AntennaTracker/Tracker.cpp

@@ -59,8 +59,8 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_receive, 50, 1700, 45),
     SCHED_TASK_CLASS(GCS,              (GCS*)&tracker._gcs, update_send,    50, 3000, 50),
     SCHED_TASK_CLASS(AP_Baro,           &tracker.barometer, accumulate,     50,  900, 55),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(ten_hz_logging_loop,    10,    300, 60),
-#if LOGGING_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Logger,   &tracker.logger, periodic_tasks, 50,  300, 65),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins,       periodic,       50,   50, 70),
@@ -107,6 +107,7 @@ void Tracker::one_second_loop()
     g.pidYaw2Srv.set_notch_sample_rate(AP::scheduler().get_filtered_loop_rate_hz());
 }
 
+#if HAL_LOGGING_ENABLED
 void Tracker::ten_hz_logging_loop()
 {
     if (should_log(MASK_LOG_IMU)) {
@@ -122,6 +123,7 @@ void Tracker::ten_hz_logging_loop()
         logger.Write_RCOUT();
     }
 }
+#endif
 
 Mode *Tracker::mode_from_mode_num(const Mode::Number num)
 {
@@ -164,7 +166,9 @@ void Tracker::stats_update(void)
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
 Tracker::Tracker(void)
+#if HAL_LOGGING_ENABLED
     : logger(g.log_bitmask)
+#endif
 {
 }
 

AntennaTracker/Tracker.h

@@ -79,7 +79,9 @@ private:
 
     uint32_t start_time_ms = 0;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     /**
        antenna control channels

AntennaTracker/config.h

@@ -57,9 +57,6 @@
 //
 // Logging control
 //
-#ifndef LOGGING_ENABLED
-# define LOGGING_ENABLED        ENABLED
-#endif
 
 // Default logging bitmask
 #ifndef DEFAULT_LOG_BITMASK

AntennaTracker/system.cpp

@@ -32,7 +32,7 @@ void Tracker::init_ardupilot()
     // try to initialise stream rates in the main loop.
     gcs().update_send();
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -56,8 +56,10 @@ void Tracker::init_ardupilot()
 
     barometer.calibrate();
 
+#if HAL_LOGGING_ENABLED
     // initialise AP_Logger library
     logger.setVehicle_Startup_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));
+#endif
 
     // initialise rc channels including setting mode
     rc().convert_options(RC_Channel::AUX_FUNC::ARMDISARM_UNUSED, RC_Channel::AUX_FUNC::ARMDISARM);
@@ -152,13 +154,17 @@ bool Tracker::set_home(const Location &temp)
 void Tracker::arm_servos()
 {
     hal.util->set_soft_armed(true);
+#if HAL_LOGGING_ENABLED
     logger.set_vehicle_armed(true);
+#endif
 }
 
 void Tracker::disarm_servos()
 {
     hal.util->set_soft_armed(false);
+#if HAL_LOGGING_ENABLED
     logger.set_vehicle_armed(false);
+#endif
 }
 
 /*
@@ -189,8 +195,10 @@ void Tracker::set_mode(Mode &newmode, const ModeReason reason)
         disarm_servos();
     }
 
+#if HAL_LOGGING_ENABLED
 	// log mode change
 	logger.Write_Mode((uint8_t)mode->number(), reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     nav_status.bearing = ahrs.yaw_sensor * 0.01f;
@@ -228,6 +236,7 @@ bool Tracker::set_mode(const uint8_t new_mode, const ModeReason reason)
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
@@ -238,7 +247,7 @@ bool Tracker::should_log(uint32_t mask)
     }
     return true;
 }
-
+#endif
 
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 #include <AP_Avoidance/AP_Avoidance.h>

AntennaTracker/tracking.cpp

@@ -138,10 +138,12 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
     vehicle.vel = Vector3f(msg.vx/100.0f, msg.vy/100.0f, msg.vz/100.0f);
     vehicle.last_update_us = AP_HAL::micros();
     vehicle.last_update_ms = AP_HAL::millis();
+#if HAL_LOGGING_ENABLED
     // log vehicle as GPS2
     if (should_log(MASK_LOG_GPS)) {
         Log_Write_Vehicle_Pos(vehicle.location.lat, vehicle.location.lng, vehicle.location.alt, vehicle.vel);
     }
+#endif
 }
 
 
@@ -167,8 +169,10 @@ void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg)
 		}
     }
 
+#if HAL_LOGGING_ENABLED
     // log vehicle baro data
     Log_Write_Vehicle_Baro(aircraft_pressure, alt_diff);
+#endif
 }
 
 /**