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APM_Control: allow compilation with HAL_LOGGING_ENABLED false

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Peter Barker 2023-07-14 10:58:06 +10:00 committed by Andrew Tridgell
parent 9168a8fc50
commit f930c38712
2 changed files with 4 additions and 0 deletions
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2
libraries/APM_Control/AP_AutoTune.cpp
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@ -247,6 +247,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
#if HAL_LOGGING_ENABLED
if (now - last_log_ms >= 40) { if (now - last_log_ms >= 40) {
// log at 25Hz // log at 25Hz
struct log_ATRP pkt = { struct log_ATRP pkt = {
@ -269,6 +270,7 @@ void AP_AutoTune::update(AP_PIDInfo &pinfo, float scaler, float angle_err_deg)
AP::logger().WriteBlock(&pkt, sizeof(pkt)); AP::logger().WriteBlock(&pkt, sizeof(pkt));
last_log_ms = now; last_log_ms = now;
} }
#endif
if (new_state == state) { if (new_state == state) {
if (state == ATState::IDLE && if (state == ATState::IDLE &&

2
libraries/APM_Control/AR_PosControl.cpp
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@ -363,6 +363,7 @@ void AR_PosControl::get_srate(float &velocity_srate)
velocity_srate = _pid_vel.get_pid_info_x().slew_rate; velocity_srate = _pid_vel.get_pid_info_x().slew_rate;
} }
#if HAL_LOGGING_ENABLED
// write PSC logs // write PSC logs
void AR_PosControl::write_log() void AR_PosControl::write_log()
{ {
@ -401,6 +402,7 @@ void AR_PosControl::write_log()
_accel_target.y * 100.0, // target accel _accel_target.y * 100.0, // target accel
curr_accel_NED.y); // accel curr_accel_NED.y); // accel
} }
#endif
/// initialise ekf xy position reset check /// initialise ekf xy position reset check
void AR_PosControl::init_ekf_xy_reset() void AR_PosControl::init_ekf_xy_reset()