From a9b328e4de6710df3df068831fb2cda216a4d0f1 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 14 Jul 2023 10:58:07 +1000
Subject: [PATCH] AP_NavEKF: allow compilation with HAL_LOGGING_ENABLED false

---
 libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 2 ++
 libraries/AP_NavEKF/EKFGSF_Logging.cpp   | 4 ++++
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index 0f80af9f69..2805bb81fb 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -153,12 +153,14 @@ void AP_NavEKF_Source::setPosVelYawSourceSet(uint8_t source_set_idx)
     // sanity check source idx
     if (source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) {
         active_source_set = source_set_idx;
+#if HAL_LOGGING_ENABLED
         static const LogEvent evt[AP_NAKEKF_SOURCE_SET_MAX] {
             LogEvent::EK3_SOURCES_SET_TO_PRIMARY,
             LogEvent::EK3_SOURCES_SET_TO_SECONDARY,
             LogEvent::EK3_SOURCES_SET_TO_TERTIARY,
         };
         AP::logger().Write_Event(evt[active_source_set]);
+#endif
     }
 }
 
diff --git a/libraries/AP_NavEKF/EKFGSF_Logging.cpp b/libraries/AP_NavEKF/EKFGSF_Logging.cpp
index 64673085ce..68e57afa7b 100644
--- a/libraries/AP_NavEKF/EKFGSF_Logging.cpp
+++ b/libraries/AP_NavEKF/EKFGSF_Logging.cpp
@@ -2,6 +2,8 @@
 
 #include <AP_Logger/AP_Logger.h>
 
+#if HAL_LOGGING_ENABLED
+
 #pragma GCC diagnostic ignored "-Wnarrowing"
 
 void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, uint8_t core_index)
@@ -48,3 +50,5 @@ void EKFGSF_yaw::Log_Write(uint64_t time_us, LogMessages id0, LogMessages id1, u
     };
     AP::logger().WriteBlock(&ky1, sizeof(ky1));
 }
+
+#endif  // HAL_LOGGING_ENABLED