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AP_OpticalFlow: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:07 +10:00 committed by Andrew Tridgell
parent a9b328e4de
commit db5591a0ea
3 changed files with 5 additions and 0 deletions
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1
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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@ -14,6 +14,7 @@
#include "AP_OpticalFlow_UPFLOW.h" #include "AP_OpticalFlow_UPFLOW.h"
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_AHRS/AP_AHRS.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;

1
libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
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@ -22,6 +22,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_AHRS/AP_AHRS.h>
const uint32_t AP_OPTICALFLOW_CAL_TIMEOUT_SEC = 120; // calibration timesout after 120 seconds const uint32_t AP_OPTICALFLOW_CAL_TIMEOUT_SEC = 120; // calibration timesout after 120 seconds
const uint32_t AP_OPTICALFLOW_CAL_STATUSINTERVAL_SEC = 3; // status updates printed at 3 second intervals const uint32_t AP_OPTICALFLOW_CAL_STATUSINTERVAL_SEC = 3; // status updates printed at 3 second intervals

3
libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.h
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@ -1,6 +1,7 @@
#pragma once #pragma once
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Logger/AP_Logger_config.h>
#define AP_OPTICALFLOW_CAL_MAX_SAMPLES 50 // number of samples required before calibration begins #define AP_OPTICALFLOW_CAL_MAX_SAMPLES 50 // number of samples required before calibration begins
@ -53,8 +54,10 @@ private:
// calculate mean squared residual for all samples of a single axis (0 or 1) given a scalar parameter // calculate mean squared residual for all samples of a single axis (0 or 1) given a scalar parameter
float calc_mean_squared_residuals(uint8_t axis, float scalar) const; float calc_mean_squared_residuals(uint8_t axis, float scalar) const;
#if HAL_LOGGING_ENABLED
// log a sample // log a sample
void log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred); void log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred);
#endif
// calibration states // calibration states
enum class CalState { enum class CalState {