From 19063a46a0c47bb0336cd7b87fa3acba8b895502 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 5 Jun 2022 21:28:40 +1000
Subject: [PATCH] AP_InertialSensor: fixed build with logging disabled

fixes CubeOrange-periph build
---
 libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp   | 6 ++++++
 .../AP_InertialSensor/AP_InertialSensor_Invensense.cpp      | 2 ++
 libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp   | 3 ++-
 libraries/AP_InertialSensor/BatchSampler.cpp                | 2 ++
 4 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index e1c2d89aa8..1f2ecd417e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -418,6 +418,7 @@ void AP_InertialSensor_Backend::_notify_new_delta_angle(uint8_t instance, const
 
 void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
 {
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         // should not have been called
@@ -430,6 +431,7 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
             _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us, gyro);
         }
     }
+#endif
 }
 
 /*
@@ -631,6 +633,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t inst
 
 void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
 {
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         // should not have been called
@@ -643,6 +646,7 @@ void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t s
             _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, sample_us, accel);
         }
     }
+#endif
 }
 
 void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
@@ -771,10 +775,12 @@ bool AP_InertialSensor_Backend::should_log_imu_raw() const
 // log an unexpected change in a register for an IMU
 void AP_InertialSensor_Backend::log_register_change(uint32_t bus_id, const AP_HAL::Device::checkreg &reg)
 {
+#if HAL_LOGGING_ENABLED
     AP::logger().Write("IREG", "TimeUS,DevID,Bank,Reg,Val", "QIBBB",
                        AP_HAL::micros64(),
                        bus_id,
                        reg.bank,
                        reg.regnum,
                        reg.value);
+#endif
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
index 354be1eda5..8800bb024d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -759,7 +759,9 @@ check_registers:
               events to help with log analysis, but don't shout at the
               GCS to prevent possible flood
             */
+#if HAL_LOGGING_ENABLED
             AP::logger().Write_MessageF("ICM20602 yofs fix: %x %x", y_ofs, _saved_y_ofs_high);
+#endif
             _register_write(MPUREG_ACC_OFF_Y_H, _saved_y_ofs_high);
         }
     }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
index 1ddb8d9b7c..fd3d37b26a 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_tempcal.cpp
@@ -304,7 +304,7 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
     }
 
     const float tdiff = T - TEMP_REFERENCE;
-
+#if HAL_LOGGING_ENABLED
     AP::logger().Write("TCLR", "TimeUS,I,SType,Temp,X,Y,Z,NSamp",
                        "s#------",
                        "F000000-",
@@ -315,6 +315,7 @@ void AP_InertialSensor::TCal::Learn::add_sample(const Vector3f &sample, float te
                        T,
                        st.sum.x, st.sum.y, st.sum.z,
                        st.sum_count);
+#endif
     
     
     st.pfit.update(tdiff, st.sum);
diff --git a/libraries/AP_InertialSensor/BatchSampler.cpp b/libraries/AP_InertialSensor/BatchSampler.cpp
index b6e8ac72af..77d741bc7b 100644
--- a/libraries/AP_InertialSensor/BatchSampler.cpp
+++ b/libraries/AP_InertialSensor/BatchSampler.cpp
@@ -265,6 +265,7 @@ bool AP_InertialSensor::BatchSampler::should_log(uint8_t _instance, IMU_SENSOR_T
 
 void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSensor::IMU_SENSOR_TYPE _type, uint64_t sample_us, const Vector3f &_sample)
 {
+#if HAL_LOGGING_ENABLED
     if (!should_log(_instance, _type)) {
         return;
     }
@@ -277,5 +278,6 @@ void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSenso
     data_z[data_write_offset] = multiplier*_sample.z;
 
     data_write_offset++; // may unblock the reading process
+#endif
 }
 #endif //#if HAL_INS_ENABLED