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AP_OpticalFlow: correct compilation when HAL_LOGGING_ENABLED is 0

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Peter Barker 2023-07-12 16:22:54 +10:00 committed by Peter Barker
parent 7a33c753cb
commit f14aab29e5
2 changed files with 10 additions and 1 deletions
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5
libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
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@ -270,9 +270,12 @@ void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
_last_update_ms, _last_update_ms,
get_pos_offset(), get_pos_offset(),
get_height_override()); get_height_override());
#if HAL_LOGGING_ENABLED
Log_Write_Optflow(); Log_Write_Optflow();
#endif
} }
#if HAL_LOGGING_ENABLED
void AP_OpticalFlow::Log_Write_Optflow() void AP_OpticalFlow::Log_Write_Optflow()
{ {
AP_Logger *logger = AP_Logger::get_singleton(); AP_Logger *logger = AP_Logger::get_singleton();
@ -295,7 +298,7 @@ void AP_OpticalFlow::Log_Write_Optflow()
}; };
logger->WriteBlock(&pkt, sizeof(pkt)); logger->WriteBlock(&pkt, sizeof(pkt));
} }
#endif // HAL_LOGGING_ENABLED
// singleton instance // singleton instance

6
libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
View File

@ -141,7 +141,9 @@ void AP_OpticalFlow_Calibrator::add_sample(uint32_t timestamp_ms, const Vector2f
// check enough roll or pitch movement and record sample // check enough roll or pitch movement and record sample
const bool rates_x_sufficient = (fabsf(body_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS); const bool rates_x_sufficient = (fabsf(body_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS);
if (rates_x_sufficient && (_cal_data[0].num_samples < ARRAY_SIZE(_cal_data[0].samples))) { if (rates_x_sufficient && (_cal_data[0].num_samples < ARRAY_SIZE(_cal_data[0].samples))) {
# if HAL_LOGGING_ENABLED
log_sample(0, _cal_data[0].num_samples, flow_rate.x, body_rate.x, los_pred.x); log_sample(0, _cal_data[0].num_samples, flow_rate.x, body_rate.x, los_pred.x);
#endif
_cal_data[0].samples[_cal_data[0].num_samples].flow_rate = flow_rate.x; _cal_data[0].samples[_cal_data[0].num_samples].flow_rate = flow_rate.x;
_cal_data[0].samples[_cal_data[0].num_samples].body_rate = body_rate.x; _cal_data[0].samples[_cal_data[0].num_samples].body_rate = body_rate.x;
_cal_data[0].samples[_cal_data[0].num_samples].los_pred = los_pred.x; _cal_data[0].samples[_cal_data[0].num_samples].los_pred = los_pred.x;
@ -149,7 +151,9 @@ void AP_OpticalFlow_Calibrator::add_sample(uint32_t timestamp_ms, const Vector2f
} }
const bool rates_y_sufficient = (fabsf(body_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS); const bool rates_y_sufficient = (fabsf(body_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS);
if (rates_y_sufficient && (_cal_data[1].num_samples < ARRAY_SIZE(_cal_data[1].samples))) { if (rates_y_sufficient && (_cal_data[1].num_samples < ARRAY_SIZE(_cal_data[1].samples))) {
# if HAL_LOGGING_ENABLED
log_sample(1, _cal_data[1].num_samples, flow_rate.y, body_rate.y, los_pred.y); log_sample(1, _cal_data[1].num_samples, flow_rate.y, body_rate.y, los_pred.y);
#endif
_cal_data[1].samples[_cal_data[1].num_samples].flow_rate = flow_rate.y; _cal_data[1].samples[_cal_data[1].num_samples].flow_rate = flow_rate.y;
_cal_data[1].samples[_cal_data[1].num_samples].body_rate = body_rate.y; _cal_data[1].samples[_cal_data[1].num_samples].body_rate = body_rate.y;
_cal_data[1].samples[_cal_data[1].num_samples].los_pred = los_pred.y; _cal_data[1].samples[_cal_data[1].num_samples].los_pred = los_pred.y;
@ -298,6 +302,7 @@ float AP_OpticalFlow_Calibrator::calc_mean_squared_residuals(uint8_t axis, float
return sum; return sum;
} }
#if HAL_LOGGING_ENABLED
// log all samples // log all samples
void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred) void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred)
{ {
@ -323,3 +328,4 @@ void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, flo
(double)body_rate, (double)body_rate,
(double)los_pred); (double)los_pred);
} }
#endif // HAL_LOGGING_ENABLED