From 626d64f5033d79e4130c3485d21eaa4dc20fd01c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 13 Feb 2024 11:26:08 +1100
Subject: [PATCH] ArduPlane: allow HarmonicNotches to be compiled out of the
 code

---
 ArduPlane/ArduPlane.cpp  | 2 ++
 ArduPlane/Log.cpp        | 2 ++
 ArduPlane/Parameters.cpp | 4 +++-
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 2e805513ab..97748b7f0d 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -273,9 +273,11 @@ void Plane::update_logging25(void)
 
     if (should_log(MASK_LOG_CTUN)) {
         Log_Write_Control_Tuning();
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
         if (!should_log(MASK_LOG_NOTCH_FULLRATE)) {
             AP::ins().write_notch_log_messages();
         }
+#endif
 #if HAL_GYROFFT_ENABLED
         gyro_fft.write_log_messages();
 #endif
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 7b2249e624..c712b2db17 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -65,9 +65,11 @@ void Plane::Log_Write_FullRate(void)
     if (should_log(MASK_LOG_ATTITUDE_FULLRATE)) {
         Log_Write_Attitude();
     }
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
     if (should_log(MASK_LOG_NOTCH_FULLRATE)) {
         AP::ins().write_notch_log_messages();
     }
+#endif
 }
 
 
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 166b141c87..8a52faed34 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1481,6 +1481,7 @@ void Plane::load_parameters(void)
     }
 #endif
 
+#if AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
 #if HAL_INS_NUM_HARMONIC_NOTCH_FILTERS > 1
     if (!ins.harmonic_notches[1].params.enabled()) {
         // notch filter parameter conversions (moved to INS_HNTC2) for 4.2.x, converted from fixed notch
@@ -1495,7 +1496,8 @@ void Plane::load_parameters(void)
         AP_Param::set_default_by_name("INS_HNTC2_HMNCS", 1);
     }
 #endif // HAL_INS_NUM_HARMONIC_NOTCH_FILTERS
-    
+#endif  // AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
+
     // PARAMETER_CONVERSION - Added: Mar-2022
 #if AP_FENCE_ENABLED
     AP_Param::convert_class(g.k_param_fence, &fence, fence.var_info, 0, true);