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AP_InertialSensor: fixed build with logging disabled

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fixes CubeOrange-periph build
This commit is contained in:
Andrew Tridgell 2022-06-05 21:28:40 +10:00 committed by Randy Mackay
parent e3aa707db6
commit ee669465ce
4 changed files with 12 additions and 1 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
View File

@ -426,6 +426,7 @@ void AP_InertialSensor_Backend::_notify_new_delta_angle(uint8_t instance, const
void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
{
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
// should not have been called
@ -438,6 +439,7 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us, gyro);
}
}
#endif
}
/*
@ -639,6 +641,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t inst
void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
{
#if HAL_LOGGING_ENABLED
AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
// should not have been called
@ -651,6 +654,7 @@ void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t s
_imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, sample_us, accel);
}
}
#endif
}
void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
@ -779,10 +783,12 @@ bool AP_InertialSensor_Backend::should_log_imu_raw() const
// log an unexpected change in a register for an IMU
void AP_InertialSensor_Backend::log_register_change(uint32_t bus_id, const AP_HAL::Device::checkreg &reg)
{
#if HAL_LOGGING_ENABLED
AP::logger().Write("IREG", "TimeUS,DevID,Bank,Reg,Val", "QIBBB",
AP_HAL::micros64(),
bus_id,
reg.bank,
reg.regnum,
reg.value);
#endif
}

2
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
View File

@ -759,7 +759,9 @@ check_registers:
events to help with log analysis, but don't shout at the
GCS to prevent possible flood
*/
#if HAL_LOGGING_ENABLED
AP::logger().Write_MessageF("ICM20602 yofs fix: %x %x", y_ofs, _saved_y_ofs_high);
#endif
_register_write(MPUREG_ACC_OFF_Y_H, _saved_y_ofs_high);
}
}

3
libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
View File

@ -303,7 +303,7 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
}
const float tdiff = T - TEMP_REFERENCE;
#if HAL_LOGGING_ENABLED
AP::logger().Write("TCLR", "TimeUS,I,SType,Temp,X,Y,Z,NSamp",
"s#------",
"F000000-",
@ -314,6 +314,7 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
T,
st.sum.x, st.sum.y, st.sum.z,
st.sum_count);
#endif
st.pfit.update(tdiff, st.sum);

2
libraries/AP_InertialSensor/BatchSampler.cpp
View File

@ -265,6 +265,7 @@ bool AP_InertialSensor::BatchSampler::should_log(uint8_t _instance, IMU_SENSOR_T
void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSensor::IMU_SENSOR_TYPE _type, uint64_t sample_us, const Vector3f &_sample)
{
#if HAL_LOGGING_ENABLED
if (!should_log(_instance, _type)) {
return;
}
@ -277,5 +278,6 @@ void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSenso
data_z[data_write_offset] = multiplier*_sample.z;
data_write_offset++; // may unblock the reading process
#endif
}
#endif //#if HAL_INS_ENABLED