From 34524d3475aebfdcd2777ba08fd229ed839f4c47 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 4 Sep 2023 20:05:11 +1000
Subject: [PATCH] AP_Logger: correct logging when rally disabled

---
 libraries/AP_Logger/AP_Logger_config.h      |  5 ++++-
 libraries/AP_Logger/LoggerMessageWriter.cpp | 12 +++++++++---
 2 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Logger/AP_Logger_config.h b/libraries/AP_Logger/AP_Logger_config.h
index 92f25cc3ca..1087a9a4e3 100644
--- a/libraries/AP_Logger/AP_Logger_config.h
+++ b/libraries/AP_Logger/AP_Logger_config.h
@@ -45,4 +45,7 @@
 #define REPLAY_LOG_NEW_MSG_MIN 220
 
 #include <AC_Fence/AC_Fence_config.h>
-#define HAL_LOGGER_FENCE_ENABLED AP_FENCE_ENABLED
+#define HAL_LOGGER_FENCE_ENABLED HAL_LOGGING_ENABLED && AP_FENCE_ENABLED
+
+#include <AP_Rally/AP_Rally_config.h>
+#define HAL_LOGGER_RALLY_ENABLED HAL_LOGGING_ENABLED && HAL_RALLY_ENABLED
diff --git a/libraries/AP_Logger/LoggerMessageWriter.cpp b/libraries/AP_Logger/LoggerMessageWriter.cpp
index 76d11f5524..2de1050aef 100644
--- a/libraries/AP_Logger/LoggerMessageWriter.cpp
+++ b/libraries/AP_Logger/LoggerMessageWriter.cpp
@@ -7,6 +7,10 @@
     #include <AC_Fence/AC_Fence.h>
 #endif
 
+#if HAL_LOGGER_RALLY_ENABLED
+#include <AP_Rally/AP_Rally.h>
+#endif
+
 #define FORCE_VERSION_H_INCLUDE
 #include "ap_version.h"
 #undef FORCE_VERSION_H_INCLUDE
@@ -46,7 +50,7 @@ void LoggerMessageWriter_DFLogStart::reset()
 #if AP_MISSION_ENABLED
     _writeentiremission.reset();
 #endif
-#if HAL_RALLY_ENABLED
+#if HAL_LOGGER_RALLY_ENABLED
     _writeallrallypoints.reset();
 #endif
 #if HAL_LOGGER_FENCE_ENABLED
@@ -183,7 +187,7 @@ void LoggerMessageWriter_DFLogStart::process()
             }
         }
 #endif
-#if HAL_RALLY_ENABLED
+#if HAL_LOGGER_RALLY_ENABLED
         if (!_writeallrallypoints.finished()) {
             _writeallrallypoints.process();
             if (!_writeallrallypoints.finished()) {
@@ -235,7 +239,7 @@ bool LoggerMessageWriter_DFLogStart::writeentiremission()
 }
 #endif
 
-#if HAL_RALLY_ENABLED
+#if HAL_LOGGER_RALLY_ENABLED
 bool LoggerMessageWriter_DFLogStart::writeallrallypoints()
 {
     if (stage != Stage::DONE) {
@@ -356,6 +360,7 @@ void LoggerMessageWriter_WriteSysInfo::process() {
     _finished = true;  // all done!
 }
 
+#if HAL_LOGGER_RALLY_ENABLED
 void LoggerMessageWriter_WriteAllRallyPoints::process()
 {
     const AP_Rally *_rally = AP::rally();
@@ -405,6 +410,7 @@ void LoggerMessageWriter_WriteAllRallyPoints::reset()
     stage = Stage::WRITE_NEW_RALLY_MESSAGE;
     _rally_number_to_send = 0;
 }
+#endif  // HAL_LOGGER_RALLY_ENABLED
 
 void LoggerMessageWriter_WriteEntireMission::process() {
     const AP_Mission *_mission = AP::mission();